TABLE 6.
Optimized parameter of CPG.
| τ | T | b | τ f | Time step (s) | αi,0 | γ ref | Q | R | |
|---|---|---|---|---|---|---|---|---|---|
| 1.0 | 12.0 | 1.5 | 3 | 0.01 | 1.0 | 0.98 | 0.5 | 30 | |
| w (RG,ij) | w (RG,i1) | w (RG,i2) | w (RG,i3) | w (RG,i4) | w (FR,ij) | w (FR,i1) | w (FR,i2) | w (FR,i3) | w (FR,i4) |
| w (RG,1j) | 0.00 | 2.431 | 1.32 | 2.431 | w (FR,1j) | 0.00 | 1.002 | 0.960 | 1.023 |
| w (RG,2j) | 1.32 | 0.00 | 2.431 | 2.431 | w (FR,2j) | 0.960 | 0.00 | 1.023 | 1.002 |
| w (RG,3j) | 2.431 | 2.431 | 0.00 | 1.32 | w (FR,3j) | 1.002 | 1.023 | 0.00 | 0.960 |
| w (RG,4j) | 2.431 | 1.23 | 2.431 | 0.00 | w (FR,4j) | 1.023 | 0.960 | 1.002 | 0.00 |
| w (SR,ij) | w (SR,i1) | w (SR,i2) | w (SR,i3) | w (SR,i4) | w (NS,ij) | w (NS,i1) | w (NS,i2) | w (NS,i3) | w (NS,i4) |
| w (SR,1j) | 0.00 | 0.00 | 2.059 | 0.00 | w (NS,1i) | 0.00 | 0.001 | 0.00 | 0.01 |
| w (SR,2j) | 0.02 | 0.00 | 0.00 | 0.00 | w (NS,2j) | 1.875 | 0.00 | 0.00 | 0.00 |
| w (SR,3j) | 0.00 | 0.00 | 0.00 | 0.02 | w (NS,3j) | 0.00 | 0.00 | 0.00 | 1.94 |
| w (SR,4j) | 0.00 | 1.987 | 0.00 | 0.00 | w (NS,4j) | 0.00 | 0.00 | 0.001 | 0.00 |