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Fig. 1. Anuran model morphology. (A) Dorsal view showing an ellipsoid body and
cylindrical leg segments connected to two thin plate feet. Foot velocity
components are also shown: cranio-caudal translational velocity
(vt), medio-lateral translational velocity
(vl) and rotational velocity (vr). The
foot angle (
f) is defined with respect to the body midline,
and vCOM denotes the forward swimming velocity of the body
(COM, center of mass). Joint angles at the hip (h), knee
(k) and ankle (a) are indicated with
shaded discs. (B) Posterior view showing the shape and dimensions of the feet.
The coordinate system used for added mass calculations is shown by arrows for
aft-directed translation (x), lateral translation (y) and a
rotational axis (z) about the ankle. A separate coordinate system is
used for the motion of the body. Velocity in the direction of the arrows is
defined as positive in their respective coordinate systems. All dimensions
shown correspond to measurements taken from frog 1. Note that all limb
movements are constrained to occur in the frontal
(x–y) plane. a–c, dimensions
of the foot.
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