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Proposed system parameters.
| Parameters | Values |
|---|---|
| Sampling Time Δt | 25 ms (40 Hz) |
| Motion Covariance Q | diag(15.02, 15.02) |
| Observation Covariance R | diag(0.042, 0.042) |
| Threshold of the Speed in the Stance Phase vst_th | 0.47 |
| Threshold of the Speed in the Swing Phase vsw_th | 0.93 |
| Gate G (Probability PG = 0.999) | 13.82 |
| Number of Steps for the Acceleration Function Nac | 40 |
