Table 1.
Control parameters and initial conditions.
| parameters | values | units | |
|---|---|---|---|
| ω | intrinsic angular velocity | 0.04 | rad s−1 |
| σ | magnitude of sensory feedback | 0.0052 | rad s−1 N−1 |
| A | positive y-direction amplitude of leg motion in a swing phase | 0.09 | m |
| A' | negative y-direction amplitude of leg motion in a stance phase | 0.03 | m |
| B | x-direction amplitude of leg motion | 0.04 | m |
| ϕ0(0) | initial phase on LF leg's oscillator | 0 | rad |
| ϕ1(0) | initial phase on LH leg's oscillator | 0 | rad |
| ϕ2(0) | initial phase on RF leg's oscillator | 0 | rad |
| ϕ3(0) | initial phase on RH leg's oscillator | 0 | rad |