Effects of Spine Motion on Foot Slip in Quadruped Bounding

Table 2

Parameters of the simulation model.

Parameter	Value
Half body length (l, mm)	60
Half body mass (m, kg)	1
Leg free length (l0, mm)	50
Leg spring stiffness (k, N·mm^−1)	8
Spine stiffness of the simulation model (kr, N·mm·rad^−1)	10
The simulation of the translation of the spine stiffness (kt, N·mm·rad^−1)	9
Front leg ground angle (rad)	0.698
Hind leg ground angle (rad)	0.785