Table 2 Parameters of the cartesian desired trajectory
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
a (m) | b (m) | c (m) | d (m) | (u, v) (m) |
|---|---|---|---|---|
0.15 | 0.53 | 0.1 | 16.5 | (0.15, 0) |
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
a (m) | b (m) | c (m) | d (m) | (u, v) (m) |
|---|---|---|---|---|
0.15 | 0.53 | 0.1 | 16.5 | (0.15, 0) |