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Predictive simulation is a powerful approach for analyzing human locomotion. Unlike techniques that track experimental data, predictive simulations synthesize gaits by minimizing a high-level objective such as metabolic energy expenditure while satisfying task requirements like achieving a target velocity. The fidelity of predictive gait simulations has only been systematically evaluated for locomotion data on flat ground. In this study, we construct a predictive simulation framework based ondoi:10.1371/journal.pone.0121407 pmid:25830913 pmcid:PMC4382289 fatcat:vm3erixq5za4vktqked5jns3we