Table A2.

Biped walker setting of pre-optimized quantities.

Variable	Value
q1	[3.5, 4.4, −0.07, −0.5, −0.7, −1.5, −0.6, −1.0, 0.3, −0.4]
g	[2.8, 4.5, −0.3, −1.8]
kpos	[632.5, 885.6, 463.4, 643.7]
kvel	[14.5, 13.2, 38.6, 40.6]
qmin	[2.8, 2.8, −2.6, −2.6, −1.04]
qmax	[4.7, 4.7, 0, 0, 1.0]