Fig 2D		durations.m

Fig 2-S2 	fluctuation_trend.m

Fig 3A		compositeGaitmap_final.m

Fig 3B,C,E,F 	cycle_analysis.m

Fig 4		fluctuation_trend.m

Fig 6A,B,C	ARSLIP_Plots.m

Fig 6-S1 	fitted_params.m

Fig 7C	 	SpringyTripod.m

Fig 6D; 7D,E 	ARSLIP_Plot_speedControl.m

Fig 8 		SpringyTripod.m