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Top: COP x-component trajectory from one able-bodied human subject. Bottom: desired stance leg angle ϕ(x, y) over COP x-component from human data. To model the human foot we used a generalized form of constraint (5) that includes a non-zero height (0.05 m) between the heel and ankle joint with Rs = 0.26 m, Xs = 0.01 m from Fig. 5 (bottom).
