Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the effects of gravity.

There are three basic forms of locomotion found among terrestrial animals

Movement on appendages is the most common form of terrestrial locomotion, it is the basic form of locomotion of two major groups with many terrestrial members, the vertebrates and the arthropods. Important aspects of legged locomotion are posture (the way the body is supported by the legs), the number of legs, and the functional structure of the leg and foot. There are also many gaits, ways of moving the legs to locomote, such as walking, running, or jumping.

Appendages can be used for movement in a number of ways. The posture, the way the body is supported by the legs, is an important aspect. There are three main ways in which vertebrates support themselves with their legs - sprawling, semi-erect, and fully erect. Some animals may use different postures in different circumstances, depending on the posture's mechanical advantages. Interestingly, there is no detectable difference in energetic cost between stances.

The "sprawling" posture is the most primitive, and is the original limb posture from which the others evolved. The upper limbs are typically held horizontally, while the lower limbs are vertical, though upper limb angle may be substantially increased in large animals. The body may drag along the ground, as in salamanders, or may be substantially elevated, as in monitor lizards. This posture is typically associated with trotting gaits, and the body flexes from side-to-side during movement to increase step length. All limbed reptiles and salamanders use this posture, as does the platypus and several species of frogs that walk. Unusual examples can be found among amphibious fish, such as the mudskipper, which drag themselves across land on their sturdy fins. Among the invertebrates, most arthropods—which includes the most diverse group of animals, the insects—have a stance best described as sprawling. There is also anecdotal evidence that some octopus species (such as the Pinnoctopus genus) can also drag themselves across land a short distance by hauling their body along by their tentacles (for example to pursue prey between rockpools) - there may be video evidence of this. The semi-erect posture is more accurately interpreted as an extremely elevated sprawling posture. This mode of locomotion is typically found in large lizards such as monitor lizards and tegus.

...
Wikipedia