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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Trans Control Syst Technol. 2017 Jan 17;26(1):181–193. doi: 10.1109/TCST.2016.2646319

Fig. 1.

Fig. 1

Kinematic model of the biped. The stance leg is shown in solid black and the swing leg in dashed black. For the simulation study we assume the biped is walking on a slope with angle γ.