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28.203451676622073 ], "net_mu_with_1p5": 0.2041703348509235, "sufficient_yaw_shear_mu_with_1p5": 0.26584451435376866, "max_nominal_foot_pressure_kPa": 9.544488238442453 } ], "summary": { "cases": 54, "minimum_reference_foot_N": 120.71709824450042, "maximum_reference_foot_N": 264.123240667917, "maximum_nominal_foot_pressure_kPa": 11.738810696351868, "max_pressure_pose": { "N_N": 50, "Fx_N": 100, "Y_mm": -150, "Z_mm": 80 }, "maximum_sufficient_yaw_mu_with_1p5": 0.26584451435376866, "floor_uniform_pressure_kPa": 4.903325, "airborne_foot_mean_pressure_kPa": 9.274229753609278 }, "assumptions": [ "four equal vertical foot stiffnesses; flat rigid floor; all pads contact", "contact X0 and Y equal to head position; no ground snow supports frame", "surface Z varied with pose; actual specimen deformation is not modeled", "reference incomplete masses and catalogue/estimate CG; ballast not included", "no dynamic/impact floor capacity or foot-friction qualification" ], "drive": { "tread_speed_kmh": 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