Table 2 CPG parameter sets.
From: Adaptive walking control for quadruped robot by using oscillation patterns
Parameters | \(a\) | \(b\) | \(c\) | \(d\) | \(K_{g}\) | \(K_{a}\) | \(K_{m}\) | \(K_{r}\) | \(K_{u}\) |
|---|---|---|---|---|---|---|---|---|---|
Value | 2.1 | 17.1 | 18.1 |  − 18.1 | 1.6 | 4.9 | 120 | 14 | 18 |
From: Adaptive walking control for quadruped robot by using oscillation patterns
Parameters | \(a\) | \(b\) | \(c\) | \(d\) | \(K_{g}\) | \(K_{a}\) | \(K_{m}\) | \(K_{r}\) | \(K_{u}\) |
|---|---|---|---|---|---|---|---|---|---|
Value | 2.1 | 17.1 | 18.1 |  − 18.1 | 1.6 | 4.9 | 120 | 14 | 18 |
