ResearchBenchmarksWhole-Body Locomotion on Crawl gait Experimental (val)Follow5.1RMSE CoM X (mm)SLOT4.8454.97255.15.2275Feb 18, 2026Evaluation ResultsMethodMethodLinksRMSE CoM X (mm)RMSE CoM Z (mm)SLOTGait=CrawlGait=Crawl2026.025.14.6