SACH-SAWCH

The lengths of the limb segments create varied wheel sizes that together can solve center of mass trajectory to ground variations. Gears all of one size only allow one outcome. Varied sizes are required to solve change. Hmm. What sizes require the fewest gears to handle the common issues? And can we not compromise speed as there are nasty beasts out there with big teeth. Cocontraction sets up large wheels with isometric properties in the components.

Immediately, the Fibonacci series came to mind. It is all over the place and artists have been using it with 1:1.618 calipers since medieval times. It's close, but not quite … wait lengths??? No. ? Periods?