Appendix: Additional Plots

Position Analysis Additional Plots

Constant ω₂:

Figure A1: Input position θ₂ over time.

Figure A2: Cam disk angle (top) and horizontal position (bottom) with respect to θ₂.

Figure A3: Large gear angle (θ₅) with respect to θ₂.

Figure A4: Angle of the foot with respect to wheel center, θ₆ (top), foot position (middle), and knee position (bottom).

Figure A5: Angle of the lower leg segment (top), upper leg segment (middle), and knee angle (bottom) with respect to θ₂.

Variable ω₂:

Figure A6: Input position θ₂ over time.

The cam disk angle, horizontal position, large gear angle, and lower and upper leg angles did not change with respect to θ₂ for the variable condition. In addition, the foot and knee positions did not change in the variable condition compared to the constant condition.