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. Author manuscript; available in PMC: 2014 Oct 17.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Feb 7;59(5):1310–1318. doi: 10.1109/TBME.2012.2186808

TABLE I.

Compass-Gait Biped Parameters

Parameter Variable Value
Hip mass mh 31.73 [kg]
Leg mass m 13.5 [kg]
Leg length ℓ 0.856 [m]
Slope angle γ 0.06 – 0.0853 [rad]