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Fig. 7. Simulation results of peak spring force (Fspring) and
maximum spring compression (
l) for a 15 cm step in the second
contact dependent on a variation of spring stiffness
(
) and angle of attack
(
TD). All simulations started before the first contact on
ground level with identical initial conditions
(
x,0=4.5 m s-1,
y0=0.95 m) and system parameters
(
=35.7, TD=68 deg.,
m=80 kg, l0=1 m). (A,C) By using a fixed angle of
attack and decreasing spring stiffness we found that spring force decreased
while spring compression increased. Dash-dotted line,
=25.5, TD=61 deg.;
dotted line =19.1,
TD=61 deg.; dashed line,
=12.7, TD=61 deg.
(B,D) In the case of varying (steepening) the angle of attack and using a
fixed spring stiffness, spring force and spring compression decreased.
Dash-dotted line, TD=59 deg.,
=19.1; dotted line,
TD=61 deg., =19.1;
dashed line, TD=63 deg.,
=19.1.
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