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

Table 2

Height of each link in support leg and swing leg.

Link number	Support leg	Swing leg
0	0.026 m	N/A
1	0.04 m	0.028 m
2	0.0645 m	0.0385 m
3	0.0645 m	0.0645 m
4	0.0385 m	0.064 m
5	0.028 m	0.04 m
6	0.096 m	0.026 m