the.com/waddle

Walking like your legs are mad at each other but still love you.

means To walk with short steps and a side-to-side rocking motion, often because you're low to the ground, heavy, or short-legged.

from Waddle emerged in the 1500s as a frequentative form of 'wade' — that is, 'wade' plus the '-le' suffix that English likes to tack onto verbs to mean 'do it repeatedly, in little bits' (think 'wrestle' from 'wrest,' or 'sparkle' from 'spark'). So a waddle is etymologically a bunch of tiny, repeated wades — which tracks, since wading through water or mud forces exactly that rocking, unsteady gait.

penguin signature
short legs force side to side rocking
energy cost
actually more efficient than it looks
etymology
from wade, first recorded 1690s
also means
a group of penguins on land
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