Bionic Control of Cheetah Bounding with a Segmented Spine

Table 1

Mechanical parameters of cheetah.

Variables		Mass (kg)	Length (mm)
Body	Intergirdle distance	—	760
	Total mass	50	—
Spine	Thoracic	17.21	380
	Lumbar 1	8.76	190
	Lumbar 2	7.80	190
Fore-limb	Scapula	1.23	160
	Humerus	1.28	230
	RMC	1.02	360
	Phalange_	0.125	80
Hind-limb	Femur	2.345	260
	Tibia	1.52	310
	Metatarsal	0.455	160
	Phalange_	0.14	90