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Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard's bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvicdoi:10.1371/journal.pone.0243798 pmid:33382751 fatcat:r4x5rpla5zbudguji6mksup5z4