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Decomposition of the trotting stride (video and multibody model simulation) according to the ground reaction force. On the upper graph, the ground reaction force in the three direction is represented. The video captions in the middle represent the different steps of the trotting stride and finally the lower figure represent these steps simulated on the mechanical software. The kinematics and ground reaction forces are synchronized and moreover, the simulated limb follows properly the kinematics.
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