Well, I would like to interject that bipeds have the advantage of instability since we have the luxury of tilting out bodyweight in the direction we move alot more than a polyped. So if we look at the net force generated by an animal, we would have to factor that out if we were only considering the force per unit of mass generated by ther legs.
Its like how jet fighters are designed to be highly unstable so they can quickly respond to commands.
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