| | Variables | Values | Parameter |
| | [mf, m, mh] | [7, 6, 7] (kg) | Mass of each part of the body | | [Ifc, Imc, Ihc] | [0.2, 0.04, 0.2] (kg ∗ m2) | Inertia of each part of the body | | [lf, lm, lh] | [0.159, 0.076, 0.159] (m) | Half of length of each part of the body | | [ksf, ksh] | [∗, ∗] (N ∗ m/rad) | Stiffness of spinal joints | | [kf, kh] | [∗, ∗] (N ∗ m) | Stiffness of forelimb and hindlimb leg | | [αf, αh] | [∗, ∗] (rad) | Attack angle of forelimb and hindlimb leg | | l0 | 0.4 (m) | Rest length of the legs | | ts | 0.08 (s) | Predefined swing time | | [x, z] | [∗, ∗] (m) | Coordinate of the middle body | | [φm, φf, φh] | [∗, ∗, ∗] (rad) | Pitch angle of each part of the body | | [phase0] | [3, 1, 1, 3] | Initial phase of each leg | | [ftdx0] | [0.1441, −0.1089, −0.5862, −0.3331] (m) | Initial foot position of each leg | | δ0 | [0, 0, 0, 0] | Initial state coefficient of each leg |
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