can i get some explnations/schematics in 3d math or physics of the human or animals body walking/locomotion pattern and how it repeats its opposing sides symetrically but not in tandem but rather in turns? maybe also how weight, speed, and conditions alters the posture of the gait physically like in quadrupeds?

looking for the detailed functions that produces xyz/world coordinates of sorts of the appendages/skeletons.. in robotics/rigidbody/biomechanism but havent found one complete enough tht includes different variation of the initial gaits

just have to address the skeletal/joints and its location and orientations, no need muscles included, or maybe just a single pair of the limbs to start with