15
Results
From Calibrating Model
In general, motion
similar to Sprawlita
Trajectory
of COM looks about the same
Model
runs slightly faster than robot (.65m/s vs. .60m/s)
Whole
body and leg GRFs similar in shape, magnitude
Models legs appear to thrust too long
For both model and robot locomotion is sensitive to parameter changes in similar ways:
Hip
stiffness increases stability, slows down
Stride
period velocity changes with same profile
Front
Leg Angle trade off between speed
and stability