Table 4 Simulation data for the estimation of the visco-elastic parameters

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