1.

Appendices

1.1 Appendix I Elements of Matrices

The following are the detailed expressions for the terms used in Eq. 1 of the main text.

The components of the inertial matrix of Eq. 1 are given by Eq. 5 Eq. 8 below.

I11 mbody hbody

2
I body
I12 mbody hbody
2
hankle hbody cos hbody xankle sin I body
I 21 mbody hbody
2
hankle hbody cos hbody xankle sin I body
I 22 mbody hankle
2
xankle
2
hbody
2
2hankle hbody cos 2hbody xankle sin
I body mboard hboard
2
I board

The coriolis effects of Eq. 1 are given by Eq. 9 and Eq. 10 below.

C11 mbody hankle hbody sin hbody xankle cos &2

C21 2mbody hankle hbody sin hbody xankle cos
&&

mbody hankle hbody sin hbody xankle cos &2

The stiffness effects due to gravity of Eq. 1 are given by Eq. 11 and Eq. 12 below.
K11 mbody ghbody sin
K 21 mbody g hankle sin xankle cos hbody sin mboard ghboard sin

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