–50
0
50
100
150
Torque (Nm)
τ 1 Torque of joint 1
τ 2 Resulting torque of joint 2
Downswing
Backswing
Follow-through
t t = 0.50
t m = 0.74
t f = 1.16
0
0.2
0.4
0.6
0.8
1
1.2
Time (s)
(c)
–15
–10
–5
0
5
10
15
20
25
30
35
Torque (Nm)
τ 2p Passive torque of joint 2
Downswing
Backswing
Follow-through
t t = 0.50
t m = 0.74
t f = 1.16
0
0.2
0.4
0.6
0.8
1
1.2
Time (s)
(d)
76
Biologically Inspired Robotics
FIGURE 4.8 (Continued)
Simulation results with joint stops for V xm = 25 m/s: (c) torque; (d) passive torque of joint 2.
(continued)