Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
Fig 2
Moments and forces periodically acting on the lizard in a period in the horizontal plane.
When a lizard runs, its legs exert a force on the ground with every stride, a fore-aft ground reaction force GRFx (fx), lateral force GRFy (fy), and GRM are produced at its feet. Also, the body torques (Tbw, Tbt) are generated by the bodies’ joint movement. A lizard controls these forces, moments, and torques to run forward by repeating the gait.