From: Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions
Method
S (mm)
|y| (mm)
\(F_{z}^{\mathrm {R}}:F_{z}^{\mathrm {L}}\) (N)
Single leg stance (Fig. 6a)
76.2
139.8
0.0:626.5
Stability margin maximization (Fig. 5a3)
123.4
92.5
117.3:509.2
With lateral constraint (Fig. 7b)
104.0
35.0
241.6:384.9
