ASME Digital Collection

Fig. 7

Symmetric walking with sd(t) = 0.6t − 0.1 m, KPi = diag [28, 28, 28], and KDi = diag[11, 11, 11]. Dashed lines: desired joint trajectories generated by gi(s¯,qsw,q3)=0 (i∈{L,R}) and sd(t).

Symmetric walking with s_d(t) = 0.6t − 0.1 m, K_Pi = diag [28, 28, 28], and K_Di = diag[11, 11, 11]. Dashed lines: desired joint trajectories generated by $g_{i} (\bar{s}, q_{s w}, q_{3}) = 0 (i \in {L, R})$ and s_d(t).

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