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Description

(This image depicts leg types based on feral body structure, not anthro)
 
Plantigrade species are those that place the full length of their foot, including podials and metapodials, on the ground during each stride. Humans and bears are examples.
Digitigrade species walk with most of the length of their digits, but not the soles of their feet, in contact with the ground. Dogs and cats are examples.
Unguligrade species walk on their tiptoes, often on hooves. Deer and horses are examples.

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