Research Article
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 |
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