This article is from the Publications about dogs FAQ, by Cindy Tittle Moore with numerous contributions by others.
Brown, Curtis. _Dog Locomotion and Gait Analysis_. Hoflin Publishing.
Detailed analysis of dog structure and gaiting. Invaluable,
Elliot, Rachel. _Dog Steps_
This wonderful book has detailed photographs, xrays and
drawings to help illustrate just what goes on with each step a
dog takes. Highly recommendend for anyone seriously interested
in improving their understanding of a dog's structure.
Gilbert, Edward M., Thelma Brown, Curtis Brown. _K-9: Structure and
Terminology_. Howell Book House, 1995.