Figure 18.

Walking with the springy telescoping model, with a relatively stiff spring: a non-dimensional stiffness of 500. V = 0.39 and D = 1.38. Because the spring stiffness is high, the biped largely behaves like it does not have a spring at all. This gait is close to inverted pendulum walking, with some artefacts associated with the presence of the spring. The muscle performs most of the work, and the spring performs very little.