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Each limb was represented by a translational spring, with stiffness K and slack length Lo, that was rigidly coupled to a roller of radius R on one side and pinned to a point mass M on the other side. The point mass was assumed to be at the height H of the center of mass of the body with the limb spring in an unstretched upright configuration. Simulations were performed assuming normative values H=1m and M=80 kg. Roller radii of 0.0, 0.1, 0.2, 0.3, and 0.4 m were considered.
