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Fig. 5. Lateral view of the displacements of the COM, from touchdown (red circle)
until the COM is situated 1 cm above the ground surface (body contact),
resulting from the simulations of the spring-dashpot model. The time
difference between two circles is 0.005 s. (A) A simulation for the real
sequence, where the arm angle at touchdown is 125°, resulting in the
spring-dashpot becoming shorter and rotating to a vertical position during
landing. (B) The arms are put further forward, at an angle of 140°, which
results in the arms stretched forward at the moment of body contact. (C) When
the arm angle is decreased to 110°, the arms rotate over the vertical
position during landing and the frog will land with its front limbs stretched
backwards.
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