Research Article
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 |
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