Energy efficiency of quadrupedal locomotion

Found an abstract for some interesting research that suggests that quadrupedal locomotion can be just as energy efficient as bipedal locomotion.

http://www.sciencemag.org/cgi/content/abstract/179/4069/186

This is interesting because it conflicts with other research on the subject which has suggested that bipedalism is up to four times more energy efficient than quadrupedalism.

I think that for the average person quadrupedalism would consume four times as much energy to begin with due to lack of skill and poor body mechanics.  I find it encouraging that there is research that suggests that each can be as efficient as the other though.  I would like to become fully efficient on all fours to see what potential it opens up in terms of speed, power and fluidity of motion.

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