I seek to understand the relationships between the musculoskeletal morphology of terrestrial vertebrate animals (including humans) and the biomechanics and neural control of locomotor performance. I address questions geared towards understanding the in-vivo dynamics of individual muscles, the influence of musculoskeletal architecture on muscle function, and the links between limb morphology, whole animal locomotor performance and habitat utilization. Using a comparative approach, I integrate a number of research techniques including in-vivo muscle-tendon measurements, musculoskeletal modeling and computer simulation, and whole animal biomechanics to examine how animals have evolved to move and maneuver through their natural environments.