All stegosaurians are quadrupedal, with hoof-like toes on all four limbs. All stegosaurians after "Huayangosaurus" have forelimbs much shorter than their hindlimbs. Their hindlimbs are long and straight, designed to carry the weight of the animal while stepping. The condyles of the lower thighbone are short from the front to the rear. This would have limited the supported rotation of the knee joint, making running impossible. "Huayangosaurus" had a thighbone like a running animal. The upper leg was always longer than the lower leg.