SI movie 5 from The dynamic role of the ilio-sacral joint in jumping frogs

Three example simulations showing increasing, but fixed IS angles (representing the lower-left to upper-right diagonal of the IS angle parameter space (see Fig. 2). The red ball indicates the time-varying position of the centre of mass. The simulated ground reaction force vector (left leg only) is shown in black. The simulation is paused at the moment of takeoff.