For your consideration:
1. They don't know.
2. They don't know.
3. They don't know.
4. They don't know.
5. They don't know.
Which says what exactly?
Point 1 is wrong. More effective methods are now acknowledged to be imitative
, not using inertial parameters or predictive inertial models.
Point 2 is wrong -- FWIW, and gait transitions are period doubling dynamics and have to do with input energy and rhythm and have little to do with specific structure -- the same laws apply to a horse's dynamic rhythm as to a person's dynamic rhythm as apply to a dripping faucet. Reread what I have said about furitama
Point 3 is simply evidence that the human perception can easily detect even slight hedges in approximation from real animal motion (-- a survival thing, actually), and which I am saying makes honing one's own critical perception on valid mechanics more and not less important in understanding. It is less a matter of book larnin' and more a matter of critical perception and correct categories in which to place those perceptions. It's not diffy-q.