A Critical Characteristic in the Transverse Galloping Pattern

Figure 11

Influence of different lag ratios on the transverse galloping dynamics. (a) The average vertical force; (b) and (c) are the peak leg force for the rear trailing leg and the rear leading leg, respectively. (d) The peak ground reaction force; (e) the result of the indicator of the metabolic cost of transport; (f) the locomotion frequency. Initial conditions: , , , and .

(a)

(b)

(c)

(d)

(e)

(f)