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. 2021 Apr 15;3(1):obab006. doi: 10.1093/iob/obab006

Fig. 6.

Fig. 6

Exploration of the use of a countermovement on the trajectory of the whole-body COM (yellow and black disc). (A) Nominal muscle-driven simulation. (B) Nominal torque-driven simulation. (C) Torque-driven simulation starting from a crouched pose. (D) Muscle-driven simulation, constrained so that the COM height monotonically increases over the liftoff phase. (E) Torque-driven simulation, constrained so that the COM height monotonically increases over the liftoff phase. (F) Torque-driven simulation, starting from a crouched pose and constrained so that the COM height monotonically increases over the liftoff phase.