Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
(a) Inverted pendulum model of the leg movement, where l is the leg length, h is the vertical displacement of the waist, and h is calculated by double integration of vertical acceleration. (b) Modified inverted pendulum to model walking, where S represents the foot length.
