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Fig. 8. Estimation of peak spring force and maximum spring compression in the case
of a disturbed contact (15 cm step up) with a varied angle of attack and
spring stiffness for a spring–mass simulation. The dotted lines indicate
spring forces between 1.5 and 3 times gravitational force and the black lines
indicate spring compressions between 0.1 and 0.15 times initial leg length.
The arrows highlight the small areas of experimentally measured values. (A) In
the simulation, decreasing spring stiffness and steepening angle of attack led
to a decreasing peak spring force. (B) However, an increasing maximum spring
compression with increasing spring stiffness can only be realized by
substantially flattening the angle of attack. Initial conditions on ground
level were 
x,0=4.5 m s–1,
y0=0.95 m, m=80 kg, l0=1 m,
and were altered in the consecutive contact due to the step.
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