Research Article
Bionic Control of Cheetah Bounding with a Segmented Spine
Table 3
Phase transition rules of spine.
| Phase transition | Trigger |
| Lock to flexion | Forelimb touch-down | Flexion to lock | TL1 reaches the minimum limitation | Lock to extension | Forelimb lift-off | Extension to lock | TL1 reaches the maximum limitation |
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