ASME Digital Collection

Fig. 9

Asymmetric walking with sd(t) = 0.6t − 0.1 m, KPi = diag [12, 12, 12], and KDi = diag[7, 7, 7]. Dashed lines: desired joint trajectories generated by gi(s¯,qsw,q3)=0(i∈{L,R}) and sd(t).

Asymmetric walking with s_d(t) = 0.6t − 0.1 m, K_Pi = diag [12, 12, 12], and K_Di = diag[7, 7, 7]. Dashed lines: desired joint trajectories generated by g_i $(\bar{s}, q_{sw}, q_{3}) = 0 (i \in {L, R})$ and s_d(t).

This Feature Is Available To Subscribers Only

Sign In or Create an Account

This site uses cookies. By continuing to use our website, you are agreeing to our privacy policy.

Accept