Trotting Motion of the Quadruped Model with Two Spinal Joints and Its Dynamics Features

Table 2

Peak ground reaction forces and torque by two control modes.

Control mode		First mode		Second mode
		Mean	SD	Mean	SD
Peak GRF (N)	Front leg	90.9	9.0	82.3	14.6
	Hind leg	73.0	15.3	59	18.1
Peak torque of leg joints (N ∗ m)	Front hip	12.2	0.7	11.8	1.0
	Front knee	14.6	0.4	13.8	0.5
	Hind hip	16.2	1.9	15.0	1.8
	Hind knee	15.0	1.0	15.4	1.4