Table 1.

Parameters for simulation and experiment.

Symbol	Items	Values
$DoF$	Degrees of freedom	4 × 2
$M_s$	Total mass	30 kg
$M_{sl}$	Single leg mass	1.4 kg
H	Constant CoM height	0.55 m
$L_{body}$	Length of robot	0.8 m
$W_{body}$	Width of robot	0.45 m
$L_s$	Stride length	0.3 m
h	Step height	0.1 m
T	Walk cycle period	1.6 s
$Step$	Control period	0.002 s
$t_s$	Quadruped support phase time	T/10
$k_1$	State feedback gain	10.1586
$k_2$	State feedback gain	−51.9226
$k_3$	State feedback gain	−32.9633