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

<table>Variation of <svg height="18.7875" id="M320" 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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h170v-28q-68 -6 -81 -21.5t-11 -91.5l9 -362q2 -80 15 -97t78 -22v-28z" id="x4D"></path></g><g transform="matrix(.017,-0,0,-.017,25.459,11.537)"><path d="M46 650h247q112 0 169 -41q64 -49 64 -141q0 -91 -56.5 -143t-138.5 -62q-23 -3 -45 -1l-74 19v-157q0 -63 15.5 -77t83.5 -19v-28h-271v28q60 5 74 20t14 77v400q0 65 -12.5 79t-69.5 18v28zM212 559v-245q31 -12 73 -12q59 0 102 38t43 124q0 77 -42.5 115.5
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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> corresponding to different desired step length change.</table>

International Scholarly Research Notices

fig27

Figure 27

Figure 27: An Improved ZMP-Based CPG Model of Bipedal Robot Walking Searched by SaDE 