Transitions between symmetrical and asymmetrical bipedal gaits: neuromechanical and evolutionary context

At certain locomotion speeds, humans change from walking to running or vice-versa. Those are symmetric locomotion types, but sometimes humans adopt asymmetric gait types such as galloping. Changing from symmetric to asymmetric gait (or vice versa)requires maybe other transition neuromechanics. This is studied and can enhance the knowledge on transitions in human locomotion.