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The 1D mass-spring model is a simple model used to illustrate how toe-off typically occurs after the point of maximum velocity. The centre of pressure derivation is equivalent to that of the zero tipping-moment point, but with the nomenclature chosen for this study. The sensitivity analysis illustrates that the take-off trajectories are relatively insensitive to the input inertial parameters of the body and leg. Modulation of toe-off and tipping in demonstrated in the simulation model of the Guinea fowl thorough adjustments to the input toe kinematics, with all other joint kinematics taken from experiment values in literature.