Results From Calibrating Model
	• In general, motion similar to Sprawlita • Trajectory of COM looks about the same • Model runs slightly faster than robot (.65m/s vs. .60m/s) • Whole body and leg GRFs similar in shape, magnitude •  Model’s legs appear to thrust too long • For both model and robot locomotion is sensitive to parameter changes in similar ways: • Hip stiffness – increases ‘stability,’ slows down • Stride period – velocity changes with same profile • Front Leg Angle –  trade off between speed and stability