T=0.74 (s), V=0.09 (m/s)



As a lateral perturbation, an impulse of approx. 0.56 (Kgm/s) that pushed the center of the body to the right was applied by a pendulum at the stance phase onset of the left foreleg.



The reason why Kotetsu fell down by a lateral perturbation:
where LF, LH, RF and RH mean left foreleg, left hind leg, right foreleg and right hind leg, respectively. The suffix st and sw mean the stance phase onset and the swing phase onset, respectively.


After impact, correct phase transitions (RH-sw, RF-sw) were followed.

But the swing phase duration of RF was too short and RF landed on the floor before RH. That is, disordered phase transitions (RF-st, RH-st) were followed. This caused insufficient leg load lateral transfer from the right to the left.

Therefore, when phase transitions (LH-sw, LF-sw) were followed, roll angle to the right became too large, phase transitions (LH-st, LF-st) were not followed.

Consequently, Kotetsu started to fall down to the right.

WMV 3M