Table 1. Anthropometric parameters of quadruple inverted pendulum.

Body mass [kg]	55
Segment length [m]	[0.13, 0.35, 0.40, 0.72]
Segment mass ratio [%body mass]	[2.2, 10.6, 24.6, 62.6]
Segment centre of mass ratio [%]	[50.0, 41.0, 45.8, 33.0]
Gyration radius ratio [%]	[18.4, 27.5, 28.5, 40.0]

Four values of each line (except for body mass) are for segment 1 to 4 from the left. Segment centre of mass ratio is with respect to segment length from the upper end. Gyration radius is relative to frontal (mediolateral) axis and the presented as percentage of each segment length.