Doddy..Thanks for the reference...
I went through that article..supportive...
I also want to stress on the 180 degree phase difference between the forelimb and hindlimb on each side of the body...This difference is seen in some gaits of the lesser mammals...The concept of balance can be applied here, I guess..like when a Tiger lifts both forelimb and hindlimb on left side, it may lose balance..so the 180 degree difference is introduced..and we still have it !!!
Life is beautiful