Biomechanics is the study of how forces affect and are affected by the body's structure.  The main difference in structure of the three stances is what parts that they have touching the ground.  Plantigrades walk with their phalanges, metatarsals, and the front of their tarsals all contacting the ground.  Digitigrades just allow their phalanges and the front of their metatarsals to touch the ground.  Unguligrades walk only using the tips of their phalanges.

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