Numerical values for the four-segments rigid body system.

Table 1: Numerical values for the four-segments rigid body system.

Segment	Mass	Dim.	Dim.	Mom. of I.	Mom. of I.	Mom. of I.
Symbol	m_i	r_i	s_i	i₁	i₂	i₃
Foot	2	-0.15	0.15	0.0193	0.0154	0.0047
Length	6	-0.27	0.24	0.2411	0.21	0.567
Thigh	16	-0.25,	0.2	0.2963	0.18	0.1735
Trunk	46	-0.28	0.28	2.35	0.9	0.457