After constructing models of the limbs of the cockroach Blaberus discoidalis, their workspaces relative to the body were computed. Workspace volumes were decomposed into body axis aligned line segments to understand the stroke of push-off motions of the animal when running. Considering limited force production, longer line segments (strokes) allow the animal to produce more work per stride. Workspace intersections determine whether a follow-the-leader gait is possible. This work was performed for Prof. Bob Full at UC Berkeley.