Effects of Spine Motion on Foot Slip in Quadruped Bounding

Table 1

Parameters of the motion controller.

Parameter	Definition
f	Gait frequency
	Oscillator phase
A	Joint motion ideal amplitude
O	Ideal offset of joint motion
θ	Joint motion phase
k, α	Proportional control factor
Dvir	Gait ideal load factor
a	Instantaneous amplitude
o	Instantaneous offset
Γ	Joint motion position