Table A1.

Parameter values for the model, as shown in Fig. A1

	Upper body b	Thigh t	Shank s	Foot f
Mass m (kg)	55.8	8.47	3.53	1.24
Moment of inertia I (kg m2)	0	0.21	0.07	0.01
Length l (m)	0	0.485	0.458	0.050
Vert. dist. CoM v (m)	0	0.210	0.198	0.015
Hor. offset CoM w (m)	0	0	0	0.050
Foot radius R (m)				0.30
x foot center C x (m)				0.05
y foot center C y (m)				0.25

m, I, l, and c of thigh and shank, and m of trunk and foot are based on Van Soest et al.23 foot radius is based on Hansen et al.8