Figure 10.
Simulated jumping take-off of a guinea fowl, Numida meleagris, using the ground model. Frames taken at time intervals of 0.02 s, using experimentally recorded joint angle kinematics [2]. The sequence begins in the crouched posture, where the body centre of gravity is recorded as being at its lowest point during the preparation to jump [2]. The leg is modelled as being massless, with the total mass of the bird (1.42 kg) being concentrated at the body centre of gravity. The body moment of inertia is predicted by modelling the body as an ellipsoid with a slenderness ratio of 2. (a) A soft ground contact stiffness of 2 kNm−1, taken from previous models of robotic terrestrial locomotion [47]. (b) A firm ground contact stiffness of 40 kNm−1 taken from previous simulations of human walking [46].