Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

Figure 5

Properties of regions of stable running for given combinations of and at different running speeds in the SLIP model, the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness, respectively. Here, the speed range of stable running for a given from 0 to 50 is shown in (a) and (b), denotes the difference between the minimum and maximum landing angles, and is the maximum tolerated range of landing angle on a region of stable running.

(a)

(b)

(c)