317396.fig.002a
(a) Trotting gait before the application of disturbing energy
317396.fig.002b
(b) Trotting gait after the application of disturbing energy, case of forward tilting
317396.fig.002c
(c) Trotting gait after the application of disturbing energy, case of backward tilting
Figure 2: Trotting gait and possible subsequent rotations in case of application of external disturbing energy.