Table 1.
Denavit–Hartenberg parameters of the leg model.
| Joint | θk | dk | ak | αk |
|---|---|---|---|---|
| Ankle (L1) | θ1 | 0 | a1 | 0 |
| Knee (L2) | θ2 | 0 | a2 | 0 |
| Hip (L3) | θ3 | 0 | a3 | 0 |
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