Table 1.

Joints compensations for each servo motor depending on knee flexion.

Left Knee Flexion			Right Knee Flexion
Joint	Compensator	Scale	Joint	Compensator	Scale
a servo	+	c1	a servo	+	c1
h servo	+	c1	h servo	+	c1
k servo	-	c2	k servo	-	c1
1 servo	-	c3	1 servo	-	c3
f servo	-	c1	c servo	-	c2