Table 2.

The model used in this study has in total eight foot–ground contact points defined (four on each foot), with the positions of the origins of the reference coordinate systems ${\mathcal{K}}_0^{\text{a-d,l/r}}$ given below

	${\rho }_{\perp }^{01}[]$	${\rho }_{\perp }^{11}\left[\frac{\text{N}·\text{s}}{{\text{m}}^2}\right]$	$\sigma []$	$\mu []$		${\mu }_{\varphi }[]$
100000.0	100.0	100000.0	0.0	0.7	0.001	0.0

		${\rho }_{\Vert }\left[\frac{\text{N}·\text{s}}{\text{m}}\right]$	${\mu }_c[]$		${\rho }_{\varphi }\left[\frac{\text{N}·\text{m}}{\text{rad}}\right]$	${\mu }_{c\varphi }\left[\text{m}\right]$
99.0	50000.0	50.0	0.8	200.0	20.0	99.0

${\mathcal{K}}_0$	$x[\text{m}]$	$y[\text{m}]$	$z[\text{m}]$
${\mathcal{K}}_0^{\text{a,l/r}}$	$-0.1085$	$-0.0391$	$-0.0361$
${\mathcal{K}}_0^{\text{b,l/r}}$	$-0.1085$	0.0391	$-0.0361$
${\mathcal{K}}_0^{\text{c,l/r}}$	0.0678	$-0.0391$	$-0.0361$
${\mathcal{K}}_0^{\text{d,l/r}}$	0.0678	0.0391	$-0.0361$

All contacts use the same set of parameters (listed below) and produce forces w.r.t the ‘from’ body’s coordinate frame ${\mathcal{K}}_1^{\text{w}}$ that is fixed to the world at the origin $[0,0,0]$