Time
Intro
SDM
Design
Dynamics
Conclusions
Whole Body Ground Reaction Forces
0.015
0.02
0.025
-.004
0
.004
20
40
60
80
2
4
6
-2
0
2
0
50
100
Spring-Loaded
Inverted Pendulum
(SLIP)
Vertical Force
Fore-aft
Force
Blaberus
discoidalis
Sprawlita
Time
(ms)
Time
(ms)
Decelerate
Accelerate
Decelerate
Accelerate
Decelerate
Accelerate
Dragging
