Fig. 4. The body segments of the frog were modeled as geometric primitives of uniform density. To the left is a scanned image of the whole frog body. To the right are the geometric solids used to approximate the inertial properties of the skull, trunk, pelvis, thigh and calf segments (stadium solids; see Materials and methods), the astragalus segment (cylinder) and the foot segment (cone). The dimensions, mass, averaged density and estimated inertias for each segment are shown in Table 1.