Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
Fig 5
Movements of the lizard models calculated by the dynamics analysis when the joint torques are minimized.
(* indicates the point at which the foot contacts the ground). (a) l1 = 66 mm, l2 = 42 mm, l3 = 84 mm, m1 = 4.0 g, m2 = 4.0 g, m3 = 2.0 g, (b) l1 = 60 mm, l2 = 40 mm, l3 = 92 mm, m1 = 4.0 g, m2 = 4.0 g, m3 = 2.0 g, (c) l1 = 72 mm, l2 = 42 mm, l3 = 78 mm, m1 = 4.0 g, m2 = 4.0 g, m3 = 2.0 g, (d) l1 = 66 mm, l2 = 42 mm, l3 = 84 mm, m1 = 4.2 g, m2 = 4.0 g, m3 = 1.8 g, (e) l1 = 66 mm, l2 = 42 mm, l3 = 84 mm, m1 = 3.8 g, m2 = 4.0 g, m3 = 2.2 g.