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This work describes the use of a simulating walking robot to model the tetrahedron walker robots being developed at NASA/Goddard Space Flight Center. As a contribution to the gait generation and motion control of the tetrahedron walker robots, a concept has been formulated to implement in the case of choreographic designed gaits. This work is part of the contribution of this Hope College team to the development of tetrahedron walker robots by the ANTS group at Goddard. http://ants.gsfc.nasa.gov.