Initial conditions in terms of energy, horizontal and vertical positions of the pendulums.

Contrary to Step 1 and Step 3, different initial conditions are selected in Step 2, where the two SLIPs are paired, and we look for arms’ impedance that maximizes SP. Such a choice is important since we can allow the system to have dynamic interactions and to check whether, when starting with different conditions, the two modeled agents can reach a synchronized gait.