The term of each leg to the target. But this time, in the same motion every leg. Therefore, the system had to manage at different speeds will reach a different. Reach the target simultaneously.
The long stretch of the legs to the target as well. But the movement equal legs. Therefore, the system must be managed at different speeds. To make t differ. Goals simultaneously
The stretching of each leg also corner goals are not equal. But the time in every movement rate. So the system needs to manage different speeds. So that while different stretch goals simultaneously.