I had a successful print using a -0.2 horizontal expansion. Ultimaker 3 extended, white PLA, layer height 0.2, no supports, no adhesion layer, scaled at 100%. Came out very nicely articulated with no fusing. Maybe a little too floppy, but the sections hold together well. The legs were loose fitting to the body, but a little heat gunning and squeezing fixed that. Great little model.