SACH-SAWCH

Here are the 5 built-in wheels with fixed radii, and turning velocity driven by inertia through the linkages. Most of the lower leg movements in walking are NOT pulled there by muscles set up to do what they are named to do. Knee flexors do not flex the knee, they temper (dampen & deflect) knee extension. Hamstrings do not extend the hip nor flex the knee. They dampen ongoing hip flexion and end the inertial knee extension. This reverse, energy bouncing, muscle use is called eccentric, elongating as they activate . Extensors control flexion INERTIA. They deflect motion.