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

Table 3

Lower bound of desired swing height corresponding to different step lengths.

Step length (m)	Lower bound of maximum desired swing height (m)
0.05 m	0.01 m
0.04 m	0.009 m
0.03 m	0.008 m
0.02 m	0.007 m
0.01 m	0.006 m