. 2015 May 13;15(5):11151–11168. doi: 10.3390/s150511151

Table 1.

Setting of the radius of validation region $r_{v a l}^{f}$ considering the state of each leg.

Gait phase at k − 1	Observable	Unobservable
Stance phase	$\frac{3}{4} w_{l} + Δ t ‖ v_{k - 1}^{f} ‖$	$\frac{3}{4} w_{l} + Δ t H_{k}^{f} v_{s t}$
Swing phase	$w_{l} + Δ t ‖ v_{k - 1}^{f} ‖$	$w_{l} + Δ t ‖ v_{k - 1}^{f} ‖ + Δ t H_{k}^{f} v_{s w}$