Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Table 7

Forward walking angles (rad).

Stage
0	0.0	0.0	−0.406	−0.406	0.824	0.824	−0.418	−0.418	0.0	0.0
1	0.322	0.322	−0.258	−0.258	0.524	0.524	−0.265	−0.265	−0.322	−0.322
2	0.378	0.322	−0.232	−0.258	1.060	0.524	−0.827	−0.265	−0.378	−0.322
3	0.322	0.322	0.171	−0.258	0.159	0.524	−0.330	−0.265	−0.322	−0.322
4	−0.322	−0.322	−0.258	−0.328	0.524	0.159	−0.265	0.169	0.322	0.322
5	−0.322	−0.378	−0.258	−0.811	0.524	1.060	−0.265	−0.248	0.322	0.378
6	−0.322	−0.378	−0.258	−0.232	0.524	1.060	−0.265	−0.827	0.322	0.378
7	−0.322	−0.322	−0.258	0.171	0.524	0.159	−0.265	−0.330	0.322	0.322
8	0.322	0.322	−0.328	−0.258	0.159	0.524	0.169	−0.265	−0.322	−0.322
9	0.378	0.322	−0.811	−0.258	1.060	0.524	−0.248	−0.265	−0.378	−0.322
10	0.378	0.322	−0.232	−0.258	1.060	0.524	−0.827	−0.265	−0.378	−0.322
11	−0.322	−0.378	−0.258	−0.588	0.524	1.194	−0.265	−0.606	0.322	0.378
12	−0.322	−0.322	−0.258	−0.258	0.524	0.524	−0.265	−0.265	0.322	0.322