Another interesting fact is what sorts of animals tended to develop these “morphotypes”; in the case of terrestrial limb reduction, it’s only amphibians, stem reptiles, and lizards (with 26 instances!). No mammals or archosaurs developed this morphotype, which suggests that certain traits …
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i've studied insect gait a little and there are multiple gaits, but it seems like the foundational one is moving in two sets of three.