Figure 7. Photographs of one RunBot stride duration.

The series of frames corresponds to one stride recorded after applying transfer functions found from the human study. The time interval between each adjacent frame is 60 ms. Markers were attached to RunBot's right leg for video tacking of the joints for calculation of kinematic data. Heel contact triggers the stance phase of ipsilateral leg and the swing phase of the contralateral leg. Leg extension during terminal swing is triggered by the threshold value for the hip anterior extreme angle (AEA) being reached during hip flexion.