When you’re running on a flat surface you can basically just let your weight fall on your planted foot. If you did this on an incline you’d fall backwards as your center of gravity is behind your foot (it would be like trying to step up a stair without leaning forward). Imagine riding a unicycle. If you’re perfectly balanced you can go forward with little work, but if you start falling backwards it would take a lot more force to get the tire back under you to prevent you from falling
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