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Figure 2


Fig. 2. Collision geometry at foreleg contact. A component of the centre of mass (COM) velocity just prior to collision v can be maintained after the collision (v') despite an inelastic redirection through an angle {gamma} determined from the 4-bar linkage geometry. The collisional energy loss calculated at each leg contact is dependent on both velocity and the angle {gamma} with which the COM path is suddenly deflected.





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