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| Preface | |
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| The Best Way to Travel | |
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| Fitness | |
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| Speed | |
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| Acceleration and Maneuverability | |
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| Endurance | |
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| Economy of Energy | |
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| Stability | |
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| Compromises | |
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| Constraints | |
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| Optimization Theory | |
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| Gaits | |
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| Muscle, the Motor | |
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| How Muscles Exert Force | |
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| Shortening and Lengthening Muscle | |
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| Power Output of Muscles | |
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| Pennation Patterns and Moment Arms | |
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| Power Consumption | |
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| Some Other Types of Muscle | |
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| Energy Requirements for Locomotion | |
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| Kinetic Energy | |
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| Gravitational Potential Energy | |
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| Elastic Strain Energy | |
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| Work That Does Not Increase the Body's Mechanical Energy | |
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| Work Requirements | |
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| Oscillatory Movements | |
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| Consequences of Size Differences | |
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| Geometric Similarity, Allometry, and the Pace of Life | |
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| Dynamic Similarity | |
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| Elastic Similarity and Stress Similarity | |
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| Methods for the Study of Locomotion | |
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| Cinematography and Video Recording | |
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| Stationary Locomotion | |
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| Measurement of Energy Consumption | |
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| Observing Flow | |
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| Forces and Pressures | |
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| Recording Muscle Action | |
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| Recording Movement at a Distance | |
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| Properties of Materials | |
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| Alternative Techniques for Locomotion on Land | |
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| Two-Anchor Crawling | |
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| Crawling by Peristalsis | |
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| Serpentine Crawling | |
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| Froglike Hopping | |
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| An Inelastic Kangaroo | |
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| A Minimal Model of Walking | |
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| The Synthetic Wheel | |
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| Walkers with Heavy Legs | |
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| Spring-Mass Models of Running | |
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| Comparisons | |
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| Walking, Running, and Hopping | |
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| Speed | |
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| Gaits | |
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| Forces and Energy | |
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| Energy-Saving Springs | |
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| Internal Kinetic Energy | |
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| Metabolic Cost of Transport | |
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| Prediction of Optimal Gaits | |
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| Soft Ground, Hills, and Loads | |
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| Stability | |
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| Maneuverability | |
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| Climbing and Jumping | |
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| Standing Jumps | |
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| Leg Design and Jumping Technique | |
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| Size and Jumping | |
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| Jumping from Branches | |
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| Climbing Vertical Surfaces and Walking on the Ceiling | |
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| Crawling and Burrowing | |
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| Worms | |
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| Insect Larvae | |
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| Molluscs | |
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| Reptiles | |
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| Mammals | |
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| Gliding and Soaring | |
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| Drag | |
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| Lift | |
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| Drag on Aerofoils | |
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| Gliding Performance | |
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| Stability | |
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| Soaring | |
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| Hovering | |
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| Airflow around Hovering Animals | |
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| Lift Generation | |
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| Power for Hovering | |
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| Powered Forward Flight | |
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| Aerodynamics of Flapping Flight | |
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| Power Requirements for Flight | |
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| Optimization of Flight | |
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| Moving on the Surface of Water | |
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| Fisher Spiders | |
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| Basilisk Lizards | |
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| Surface Swimmers | |
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| Swimming with Oars and Hydrofoils | |
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| Froude Efficiency | |
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| Drag-Powered Swimming | |
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| Swimming Powered by Lift on Limbs or Paired Fins | |
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| Swimming with Hydrofoil Tails | |
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| Porpoising | |
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| Swimming by Undulation | |
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| Undulating Fishes | |
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| Muscle Activity in Undulating Fishes | |
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| Fins, Tails, and Gaits | |
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| Undulating Worms | |
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| Swimming by Jet Propulsion | |
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| Efficiency of Jet Propulsion | |
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| Elastic Mechanisms in Jet Propulsion | |
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| Buoyancy | |
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| Buoyancy Organs | |
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| Swimming by Dense Animals | |
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| Energetics of Buoyancy | |
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| Buoyancy and Lifestyle | |
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| Aids to Human Locomotion | |
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| Shoes | |
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| Bicycles | |
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| Scuba | |
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| Boats | |
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| Aircraft without Engines | |
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| Epilogue | |
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| Metabolic Cost of Transport | |
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| Speeds | |
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| Gaits | |
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| Elastic Mechanisms | |
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| Priorities for Further Research | |
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| References | |
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| Index | |