Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot

Table 1

System parameters and initial conditions.

Variable	Value
(kg)	640
(N/m)	62200
(m)	1.5
(m)	0.75
(kgm^2)	240
(m/s)	11
(rad/s)	6
(m)	1.6
(m)	0
(m/s)	0
(rad)	0
(m)	0.6
(m)	0.6
(rad)	0.3540
(rad)	0.2122
(N)	0
(Nm)	0