Bionic Control of Cheetah Bounding with a Segmented Spine

Table 4

Parameter values of the controller used in simulations.

Phase	Parameter	Value	Unit
Flexion		−1.5	rad/s
		−2.5	rad/s
Extension		1.5	rad/s
		2.5	rad/s
Stance		0.01	—
		0.15	—
		1.2	rad/s
		1.5	rad/s
Thrust		0.01	—
		0.1	—
		1.5	rad/s
		5.3	rad/s
		1.0	—
		2	m/s
		−6	Nm