An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker

Table 1

Simulation parameters of the MICM method.

Parameter	Symbol	Value
Slope angle		0.004
Scope of the DOI
		Initial discretization level of the DOI		6×6
Deletion accuracy		0.2
Maximum deletion iteration number		5
Refinement accuracy		0.02
Maximum refinement iteration number		5
Discretization level of each cell discretization		3×3