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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 Vx (m s–1), (D) Vy (m s–1), (E) Ax (m s–2), (F) Ay (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.





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