Optimization of Central Pattern Generator-Based Torque-Stiffness-Controlled Dynamic Bipedal Walking

Table 1

Neural model parameters, bounds of the PSO algorithm, and the resulted optimized values.

Parameter	Upper bound	Lower bound	Optimized value
	30	70	67
	5	15	6
	30	50	34
	1	5	2.4
	5	50	22
	1	5	3.9, 1.3
	0	1	0.12, 0.4
	0	1	0.8, 0.66
	−0.5	0.5	−0.07, 0.32
	−0.5	0.5	−0.09, −0.34
	−5	5	−3.9, 1.4
	−5	5	1.4, 1.4, 0.28
	−1	1	0.97, 1
	−1	1	0.28, 0.24, −0.16
	−1	1	0.94, 0.55
	−1	1	−0.8, 0
	−1	1	0, 0.7
	−1	1	−0.8, 0.2
	−100	100	72.6, −66
	−100	100	57, 5
	−0.7	−0.4	−0.419
	−1.5	−0.2	−1.5
	−1.5	−0.2	−1.6
	−0.7	−0.4	−0.45
	−1.5	−0.2	−1.6