The muscle-mechanical compromise framework: Implications for the scaling of gait and posture

Many aspects of animal and human gait and posture cannot be predicted from purely mechanical work minimization or entirely based on optimizing muscle efficiency. Here, the Muscle-Mechanical Compromise Framework is introduced as a conceptual paradigm for considering the interactions and compromises between these two objectives. Current assumptions in implementing the Framework are presented. Implications of the compromise are discussed and related to the scaling of running mechanics and animal posture.