Complex sentence: The ability of cockroaches to have ground reaction force distributed equally to these three legs is explained by joint torque minimization, which has been shown to help limit mechanical, energetic, and metabolic demands, and can also decrease the axial load on a single leg.
Split into simpler sentences: The ability of cockroaches to have ground reaction force distributed equally to these three legs is explained by joint torque minimization. Joint torque minimization has been shown to help limit mechanical, energy, and metabolism demands, and can also decrease the axial load on a single leg.