Table 2 Summary of signal Types, Ranges, and recommended Uses.

From: Experimental validation and simulation of a U-Shaped elastic beam robot for stable running locomotion

Feature

ω1

ω2

ω3

Time Range

0–10 s

0–4.5 s

0–4 s

Signal Type

Square-like

Sinusoidal (high freq, small amp)

Sinusoidal (lower freq, larger amp)

Hopping Range (mm)

~ 424.5 to 426.2

~ 426.3 to 426.8

~ 427.4 to 428.1

Frequency

Moderate

High

Moderate to low

Application Suggestion

Binary motion/actuation

Vibration test/resonance

Damped harmonic analysis