Table 6.
Impedance control gains of the ankle joint.
| Controller | Initial rate of change of desired torque | Angle error at the maximum torque (rad) | K 1 | K 2 | K d |
|---|---|---|---|---|---|
| A | 30 | 0.07 | 0.81 | 37.01 | 2.0 |
| B | 100 | 0.05 | 3.98 | 25.13 | 2.0 |
| C | 300 | 0.03 | 43.42 | 6.91 | 2.0 |
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