From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
Link | k i (m) | l i (m) | m i (Kg) | Inertia about center of mass (Kg m−2) | ||
---|---|---|---|---|---|---|
i ix | i ix | i ix | ||||
Right foot | 0.034 | 0.034 | 1.015 | 0.001 | 0.001 | 0.001 |
Right leg | 0.184 | 0.241 | 3.255 | 0.051 | 0.051 | 0.051 |
Right thigh | 0.184 | 0.240 | 7.000 | 0.113 | 0.113 | 0.113 |
Pelvis | 0.021 | 0.178 | 9.940 | 0.112 | 0.112 | 0.112 |
Left thigh | 0.240 | 0.184 | 7.000 | 0.113 | 0.113 | 0.113 |
Left leg | 0.241 | 0.184 | 3.255 | 0.051 | 0.051 | 0.051 |
Left foot | 0.034 | 0.034 | 1.015 | 0.001 | 0.001 | 0.001 |