Bionic Control of Cheetah Bounding with a Segmented Spine

Figure 8

Kinematic variables in the bounding gait over two strides. EV A: Touch-down of fore-limbs. EV B: Transition of hind-limbs from Swing to Hold. EV C: Minimum limitation of the spine joints. EV D: Touch-down of hind-limbs & Transition of fore-limbs from Stance to Thrust. EV E: Lift-off of fore-limbs. EV F: Transition of fore-limbs from Free to Swing. EV G: Maximum limitation of the spine joints. EV H: Transition of hind-limbs from Stance to Thrust. EV I: Lift-off of hind-limbs. EV J: Transition of hind-limbs from Free to Swing. EV K: Transition of fore-limbs from Swing to Hold. EV L: Touch-down of the fore-limbs in the next stride.