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

Table 2

The configuration of the PSO algorithm parameters.

Parameter	Value
W	0.1
c1	1.49
c2	1.49
Min neighbors fraction	0.25
Crossover type	Stochastic
Encoding type	Real
Selection strategy	Stochastic
Swarm size	700