Before revision:  When the frequency and offset of the  sawtooth waveform are optimized, the robot travels up to 87ums (0.87 body length per second) forward and backward with minor deviance from linear trajectories.
After revision:  When the frequency and offset of the actuation sawtooth waveform are optimized, the robot travels up to 87ums (0.87 body length per second) forward and backward with minor deviance from linear trajectories.