What morphological and functional factors allow for the unique and characteristic upright striding walk of the hominin lineage? Predictive models of locomotion that arise from considering mechanisms of energy loss indicate that collision‐like losses at the transition between stance limbs are important determinants of bipedal gait. Theoretical predictions argue that these collisional losses can be reduced by having “functional extra legs” which are physically the heel and the toe part of a single anatomical foot. The ideal spacing for these “functional legs” are up to a quarter of a stride length, depending on the model employed. We evaluate the foot in the context of the dynamics of a bipedal system and compare predictions of optimal foot size against empirical data from modern humans, the Laetoli footprint trackways, and chimpanzees walking bipedally. The dynamics‐based modeling approach provides substantial insight into how, and why, walking works as it does, even though current models are too simple to make predictions at a level adequate to anticipate specific morphology except at the most general level.

中文翻译：

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功能方面的形式：能量有效的大步走的基本原理，the脚的作用及其预期的大小。

哪些形态和功能因素允许人参谱系独特而典型的直立大步走？通过考虑能量损失的机制得出的运动预测模型表明，在站立肢体之间的过渡处，类似碰撞的损失是决定双足步态的重要因素。理论上的预测认为，通过具有“功能性额外的腿”，可以减少这些碰撞损失，这些“腿”实际上是单个解剖脚的脚跟和脚趾部分。这些“功能性腿”的理想间距最大为步幅的四分之一，具体取决于所采用的型号。我们在双足系统的动态范围内评估脚部，并将最佳脚部尺寸的预测与来自现代人类，Laetoli足迹轨迹，和黑猩猩双足行走。基于动力学的建模方法可提供关于行走如何以及为何如此工作的大量见解，即使当前模型过于简单以至于无法在最一般的水平上进行足以预测特定形态的水平的预测。