He built a computer model that could calculate the forces acting on the joints of a running bipedal creature in midstride and tell him how much muscle the animal would need in order not to collapse. (discovermagazine.com)
It could climb stairs, navigate uneven surfaces, change its gait midstep, and even change direction midstride. (discovermagazine.com)
I pose midstride so that the machine can correctly adjust the cables. (sciencemag.org)