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. Author manuscript; available in PMC: 2014 Dec 29.
Published in final edited form as: IEEE Trans Control Syst Technol. 2014 Jan;22(1):246–254. doi: 10.1109/TCST.2012.2236840

TABLE I.

Model Parameters

Parameter Variable Value
Hip mass mh 31.73 [kg]
Leg mass m 13.5 [kg]
Leg inertia Irot 0.2 [kg·m2]
Leg length ℓ 0.856 [m]
Slope angle γ 0.0075 [rad]
Foot radius Rf 0.26 [m]
Effective radius Rs 0.45 [m]
Effective center Xs 0.005 [m]
Proportional gain Kp 352.38 [Nm/rad]
Derivative gain Kd 26.281 [Nm·s/rad]