Open Access
Table 1.
The robot configuration parameters
| Parameter | Value | Unit |
|---|---|---|
| Torso length LT | 0.204 | m |
| Thigh length Lt | 0.412 | m |
| Calf length Ls | 0.385 | m |
| Torso mass mT | 5.9 | kg |
| Thigh mass mt | 13.2 | kg |
| Calf mass ms | 7.7 | kg |
| Hip rotational inertia IT | 0.24 | kgm2 |
| Thigh rotational inertia It | 0.56 | kgm2 |
| Calf rotational inertia Is | 0.28 | kgm2 |
| Gravitational acceleration g | 9.8 | m/s2 |
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