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

Table 2

Parameters of animals and the initial values of simulation [23–28].

Variable	Cat	Greyhound	Lion	Racehorse	Basset hound	Giraffe
(kg)	3.7	35	167	900	25	1200
(N/m)	3200	7000	62200	62200	7000	62200
(m)	0.285	0.6	0.755	1.4	0.22	2
(m)	0.16	0.26	0.45	0.65	0.3	0.5
(m/s)	5	1	9	8	1	3
(rad/s)	12	12	6	7	12	9
(m)	0.3	0.7	0.8	1.5	0.3	2.1
(m)	0	0	0	0	0	0
(m/s)	0	0	0	0	0	0
(rad)	0	0	0	0	0	0