We've got the mode maps. We now understand how to express our hybrid system with three different modes. We've got the flight mode which ends in touch down. From touch down we go into compression. Compression ends in bottom and bottom gets the thrust, brings us to decompression and finally to liftoff and we're ready to go again. The question now is what can they reveal? They're gonna give us gait stability properties.They are going to show us how the parameters, the fixed parameters and the control parameters influence the hopping and eventually running behavior.