An Improved ZMP-Based CPG Model of Bipedal Robot Walking Searched by SaDE

<table>Variation of <svg height="18.7875" id="M319" style="vertical-align:-5.76984pt" version="1.1" viewbox="0 0 42.599998 18.7875" width="42.599998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,35.025,15.613)"><path d="M556 393q0 -39 -36 -106q-42 -78 -185 -279q-47 -66 -81 -108t-117 -135l-112 -26l-8 22q150 90 251 219q-6 136 -39 340q-8 53 -21 53q-6 0 -27 -19.5t-38 -42.5l-16 26q80 111 127 111q23 0 35 -28t20 -90q18 -137 27 -263h2q142 200 142 279q0 24 -14 48q-4 7 5 26
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</svg> with time (different desired step length).</table>

International Scholarly Research Notices

fig26

Figure 26

Figure 26: An Improved ZMP-Based CPG Model of Bipedal Robot Walking Searched by SaDE 