Table 4 Simulation data for the estimation of the visco-elastic parameters
| Parameter | Value | |
|---|---|---|
| m (total mass) | {50, 70, 85, 90} | kg |
| H (total height) | 1.6, 1.7, 1.7, 1.8 | m |
| \(m_{1}\) | 0.322m | kg |
| \(m_{2}\) | 0.678m | kg |
| \(l_{1}\) | 0.53H | m |
| \(r_{1}\) | 0.29H | m |
| \(l_{2}\) | 0.18H | m |
| \(\eta\) | {10, 1, 1, 0.1} | |
| \(k_{1}(t)\) | \(1050\left( 1+0.2\frac{1}{1+e^{-0.5 \eta (t-5)}}\right)\) | Nm/rad |
| \(b_{1}\) | 30 | Nms/rad |
| \(k_{2}(t)\) | \(500\left( 1+0.3\frac{1}{1+e^{-0.8 \eta (t-5)}}\right)\) | Nm/rad |
| \(b_{2}\) | 20 | Nms/rad |