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

Table 4

𝑅_hs,support, 𝑅_ks,support, 𝑅_hs,swing, and 𝑅_ks,swing searched by SaDE.

Desired step length (cm)	𝑅hs,support	𝑅ks,support	𝑅hs,swing	𝑅ks,swing
5	1	1	1	1
4	0.8391	0.9419	0.7923	0.9714
3	0.7915	0.8469	0.5576	0.9672
2	0.6090	0.7861	0.3165	0.8709
1	0.4885	0.7157	0.0494	0.7779
0	0	0	0	0