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Experimental results of the gait for changes in body properties. (a) With a load of 0.12 kg on the forelegs (see electronic supplementary material, movie S3), and (b) with a load of 0.29 kg on the hindlegs (see electronic supplementary material, movie S4). The duty factors of the legs bearing the load (the forelegs in (a) and the hindlegs in (b) are larger than those of the legs without a load.
