Bionic Control of Cheetah Bounding with a Segmented Spine

Table 5

Parameter values of different velocities.

Phase	Parameter		Value		Unit
		Low speed	Medium speed	High speed
Flexion		−1.5	−1.5	−1.5	rad/s
		−2.5	−2.5	−2.5	rad/s
Extension		1.5	1.5	1.5	rad/s
		2.5	2.5	2.5	rad/s
Stance		0.01	0.01	0.012	—
		0.08	0.12	0.186	—
		1.5	1.2	1.2	rad/s
		1.2	1.5	1.5	rad/s
Thrust		0.01	0.01	0.01	—
		0.06	0.1	0.1	—
		1.8	1.6	1.5	rad/s
		4.5	5.1	5.5	rad/s
		1	1	1	—
		2	2	2	m/s
		−12	−7.5	−4.5	Nm