Like all tetrapods with limbs, plesiosaurs must have had a certain gait, a coordinated movement pattern of the, in this case, flippers. Of the infinite number of possibilities, in practice attention has been largely directed to the question of whether the front pair and hind pair moved simultaneously, so that all four flippers were engaged at the same moment, or in an alternate pattern, each pair being employed in turn. Frey & Riess in 1991 proposed an alternate model, which would have had the advantage of a more continuous propulsion. In 2000, Theagarten Lingham-Soliar evaded the question by concluding that, like sea turtles, plesiosaurs only used the front pair for a powered stroke. The hind pair would have been merely used for steering. Lingham-Soliar deduced this from the form of the hip joint, which would have allowed for only a limited vertical movement. Furthermore, a separation of the propulsion and steering function would have facilitated the general coordination of the body and prevented a too extreme pitch. He rejected Robinson's hypothesis that elastic energy was stored in the ribcage, considering the ribs too stiff for this.