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. 2021 Feb 15;115(1):7–37. doi: 10.1007/s00422-020-00856-4

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 K0a-d,l/r given below

Inline graphic ρ01[] ρ11N·sm2 σ[] μ[] Inline graphic μϕ[]
100000.0 100.0 100000.0 0.0 0.7 0.001 0.0
Inline graphic Inline graphic ρN·sm μc[] Inline graphic ρϕN·mrad μcϕm
99.0 50000.0 50.0 0.8 200.0 20.0 99.0
K0 x[m] y[m] z[m]
K0a,l/r -0.1085 -0.0391 -0.0361
K0b,l/r -0.1085 0.0391 -0.0361
K0c,l/r 0.0678 -0.0391 -0.0361
K0d,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 K1w that is fixed to the world at the origin [0,0,0]