There exists a value of the phase shift, (delta _{max}), that gives the maximum forward velocity.
From Figs. 8, 9, we see that there is a value of the gait parameter (delta) which gives the maximum forward velocity when the gait parameters (alpha) and (omega) are kept constant.
This is also in accordance with the properties in Propositions (1, 4) and 2. However, we see that the values of the parameter (delta) which results in achieving the maximum forward velocity differs for the simulated and the physical robot.
The forward velocity increases with increasing (delta) for (delta < delta _{max}), and decreases with (delta) when (delta > delta _{max}), and the maximum forward velocity is achieved when (delta = delta _{max}), when (alpha) and (omega) are kept constant. .
From Figs. 13e, f and 14e, f, it is clear that there exists a value of the gait parameter (delta) which gives the maximum forward velocity, when the gait parameters (alpha) and (omega) are kept constant, which is in accordance with the simulation results presented in previous section.
It is notable that (a) t=0 s is the beginning of each cardiac cycle, just prior to the deceleration of the blood flow, (b) t=0.12 s is the point of maximum reverse velocity, (c) t=0.35 s is the peak of the S wave, (d) t=0.50 s is halfway through the rapid acceleration phase and (e) t=0.85 s is the point of maximum forward velocity, the peak of the D wave.
