Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot

Table 3

Parameter of contact force.

Parameter	Value
Stiffness	1.00+05
Force exponent	2.2
Damping	10
Penetration depth	0.1
Friction force	Coulomb
Static coefficient	0.3
Dynamic coefficient	0.1
Static translation Vel	100
Friction translation Vel	1000