Table 1 Parameters for robot model and proposed method
From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait
Symbol | Meaning | Value |
|---|---|---|
DOF | Degree of freedoms | 22 |
m | Total mass of robot | 22.545 kg |
\(m_L\) | Mass of each leg | 1.983 kg |
\(2d_L\) | Distance between legs | 0.21 m |
\(\ell _{\text{leg}}\) | Total length of leg | 0.595 m |
\(t_R\) | Thickness of robot | 0.1 m |
\(T_s\) | Arrival time | {45, 30} s |
\(T_a\) | Acceleration time | \(\sim\) 3.5 s |
\(R_{obs}\) | Observable range | 2.5 m |
\(\mu _S\) | Friction coefficient for rotation | 0.5 |
\(\gamma _O\) | Coefficient for obstacle avoidance | 0.9 |
\(\sigma _m\) | Virtual mass coefficient | [0.2, 5] |
\(\lambda _0\) | Maximum skewness | 5.0 |
\(\bar{v}\) | Expected average speed in traveling | 0.2 or 0.5 |
\(\sigma _0\) | Default variance | 1.0 |
\(G_\sigma\) | Gain to update \(\sigma _m\) | 0.5 |