Table 2.
The coefficients of the elastic foundation model between the feet and the objects. The geometry value for the object can be chosen from either one of the two objects (i.e., stairs_c or ramp_c), while for the right (_r) or left (_l) foot the geometry values are identical.
| Coefficient | Value | |
|---|---|---|
| Right leg | appliesForce | true |
| geometry | [stair_c, ramp_c] r_heel r_toe1 r_toe2 | |
| dissipation [s/m] | 5 | |
| stiffness [MPa/m] | 50 | |
| static_friction | 0.9 | |
| dynamic_friction | 0.9 | |
| viscous_friction | 0.9 | |
| transition_velocity | 0.1 | |
| Left leg | appliesForce | true |
| geometry | [stair_c, ramp_c] l_heel l_toe1 l_toe2 | |
| dissipation [s/m] | 5 | |
| stiffness [MPa/m] | 50 | |
| static_friction | 0.9 | |
| dynamic_friction | 0.9 | |
| viscous_friction | 0.9 | |
| transition_velocicty | 0.1 |