Table 2 Motion variable for the n-layer bio-inspired leg suspension model

y

Absolute motion of loading mass

m

z

Bottom excitation

m

\(\hat{y}\)

Relative motion of loading mass and bottom

m

φ

Rotational motion

rad

x

Horizontal translational motion

m

z ₀

Amplitude of bottom excitation z

m

ω ₀

Frequency of bottom excitation z

rad s⁻¹

ϕ

Phase of relative motion ŷ

a

Amplitude of relative motion ŷ

T _d

Displacement transmissibility