. 2022 Apr 27;10:804826. doi: 10.3389/fbioe.2022.804826

TABLE 1.

Optimized initial states and system parameters of the proposed model associated with all 12 empirical trials of jerboa skipping locomotion are listed in this table. The optimized trajectory of trial 1802-j30 corresponds to Figure 2. All states and parameters are normalized with respect to the total mass of the system, m, the uncompressed leg length, l _o, and the gravity on Earth, g.

Jerboa	j30				j38				j44			j61
Recording	1802	1826	1827	1828	2007	2018	2029	2035	1138	1317	1320	1940
States	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp
${\dot{x}}_{o}$ $\sqrt{g l_{o}}$	2.86 2.22	4.27 4.05	5.01 5.47	4.07 3.61	3.88 4.73	3.83 4.06	4.64 5.09	3.64 3.52	1.79 1.53	1.82 1.99	2.08 2.30	2.15 2.13
y _o l _o	1.04 1.11	0.96 1.01	0.90 0.96	0.86 0.88	1.15 1.26	1.16 1.22	0.98 1.09	1.08 1.11	1.33 1.36	1.19 1.34	1.07 1.17	1.10 1.15
${\dot{y}}_{o}$ $\sqrt{g l_{o}}$	0.01 0.15	0.01–0.21	0.00–0.04	0.00–0.26	-0.12–0.16	0.00 0.03	-0.07–0.91	-0.09 0.07	-0.18 0.12	-0.02–0.33	0.00–0.10	0.00–0.82
$α_{l_{0}}$ rad	0.35 0.36	0.27 0.30	0.55 0.55	0.15 0.06	0.36 0.47	-0.17–0.64	0.17 0.08	0.19 0.13	-0.32–0.38	0.01–0.06	-0.15–0.36	0.23 0.24
$\dot{α_{l_{0}}}$ $\sqrt{g / l_{o}}$	3.18 3.90	5.18 7.72	4.07 4.33	5.14 7.41	3.61 2.28	3.21 4.39	5.16 8.12	4.47 4.72	2.52 2.87	1.84 2.20	1.79 2.89	2.33 1.27
$α_{r_{0}}$ rad	0.12 0.03	0.66 0.76	0.68 0.69	0.45 0.33	0.36 0.32	-0.24–0.32	-0.08–0.29	-0.21–0.45	0.56 0.29	0.41 0.44	0.49 0.41	-0.30–0.33
$\dot{α_{r_{0}}}$ $\sqrt{g / l_{o}}$	4.15 7.09	3.59 1.92	2.21 1.33	4.49 7.79	2.83 2.80	4.61 5.52	5.66 6.89	4.33 5.52	-0.21 1.56	0.91 0.89	1.67 3.11	3.33 2.28
Timing	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp	sim exp
$t_{l}^{t d}$ $\sqrt{l_{o} / g}$	0.45 0.32	0.44 0.50	0.53 0.49	0.49 0.54	0.47 0.43	0.38 0.36	0.30 0.28	0.48 0.47	0.43 0.51	0.45 0.50	0.52 0.52	0.27 0.31
$t_{l}^{l o}$ $\sqrt{l_{o} / g}$	0.60 0.56	0.63 0.68	0.68 0.67	0.61 0.74	0.59 0.60	0.52 0.56	0.47 0.44	0.64 0.66	0.68 0.78	0.65 0.71	0.65 0.74	0.68 0.66
$t_{r}^{t d}$ $\sqrt{l_{o} / g}$	0.45 0.45	0.29 0.36	0.29 0.33	0.46 0.43	0.64 0.60	0.48 0.47	0.43 0.48	0.61 0.61	0.44 0.31	0.26 0.29	0.37 0.30	0.60 0.49
$t_{r}^{l o}$ $\sqrt{l_{o} / g}$	0.81 0.68	0.49 0.57	0.56 0.51	0.62 0.61	0.72 0.78	0.60 0.65	0.62 0.69	0.85 0.79	0.57 0.50	0.47 0.46	0.51 0.52	0.85 0.77
Duty Factor	0.26 0.24	0.19 0.20	0.21 0.18	0.14 0.19	0.12 0.17	0.13 0.19	0.18 0.19	0.20 0.18	0.19 0.23	0.21 0.19	0.14 0.22	0.33 0.31
Stride Time $\sqrt{l_{o} / g}$	0.93 0.97	0.91 0.79	0.68 0.69	0.84 0.81	0.91 0.90	1.27 1.24	0.90 0.88	0.90 0.92	1.77 1.70	1.66 1.60	1.51 1.44	0.83 0.87
Stride Length l _o	2.69 2.73	3.89 3.30	3.38 3.34	3.37 3.13	3.52 3.38	5.01 4.84	4.17 4.11	3.28 3.40	3.05 2.97	3.13 2.93	3.18 2.88	1.91 2.01
Average Speed $\sqrt{g l_{o}}$	2.88 2.81	4.26 4.13	4.99 4.85	4.00 3.83	3.86 3.76	3.99 3.88	4.64 4.70	3.64 3.71	1.73 1.75	1.91 1.83	2.12 1.99	2.32 2.44
R-squared
X	0.99	0.99	0.99	0.99	0.99	0.99	0.99	0.99	0.99	0.99	0.98	0.99
Y	0.88	0.97	0.90	0.94	0.83	0.92	0.84	0.93	0.95	0.89	0.88	0.95
α _l	0.99	0.98	0.99	0.99	0.99	0.90	0.99	0.99	0.99	0.97	0.86	0.97
α _r	0.99	0.99	0.99	0.99	0.99	0.99	0.98	0.98	0.97	0.99	0.97	0.98
Parameters
ω $\sqrt{g / l_{o}}$	6.49	6.87	6.99	6.75	5.86	4.84	6.37	5.94	3.27	3.63	4.08	7.17
φ _l rad	0.02	0.23	0.32	0.28	0.03	-0.17	-0.45	-0.12	-0.15	0.18	0.26	-0.10
φ _r rad	0.17	0.03	0.00	0.22	0.40	-0.01	-0.09	0.07	0.16	-0.10	-0.04	-0.05