JEB -- Robilliard and Wilson 208 (23): 4377 Figure IG4

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Fig. 4. Analytical (red dotted lines) and numerical (blue solid lines) solutions for initial leg angles of 15°, 20°, 25°and 30° for (A) x position (m), (B) change in y position (m), (C) change in V_x (m s^–1), (D) V_y (m s^–1), (E) A_x (m s^–2), (F) A_y (m s^–2) (G) resultant leg force F (kN) and (H) change in total mechanical energy (ME) against stance time (s) normalised so that midstance occurs at 0 s.