Fig. 9From: Influence of trunk structure on posture transition from quadrupedalism to bipedalismTrajectory of torques of hip joint and joints 1 to 3 when the models are equipped with Models A and C. The elastic coefficient is set as \(K_{p}=200\) Nm/rad, and transition period is \(T_{s}\) is set as 0.15 sBack to article page