Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Table 9

Lateral walking angles (rad).

Stage
0	0.0	0.0	−0.368	−0.368	0.747	0.747	−0.379	−0.379	0.0	0.0
1	0.317	0.317	−0.198	−0.198	0.401	0.401	−0.203	−0.203	−0.317	−0.317
2	0.337	0.317	−0.385	−0.198	0.785	0.401	−0.398	−0.203	−0.337	−0.317
3	0.234	0.317	−0.290	−0.198	0.588	0.401	−0.298	−0.203	−0.234	−0.317
4	−0.317	−0.234	−0.198	−0.290	0.401	0.588	−0.203	−0.298	0.317	0.234
5	−0.317	−0.386	−0.198	−0.339	0.401	0.688	−0.203	−0.349	0.317	0.386
6	−0.317	−0.364	−0.198	−0.083	0.401	0.170	−0.203	−0.086	0.317	0.364
7	0.364	0.317	−0.083	−0.198	0.170	0.401	−0.086	−0.203	−0.364	−0.317
8	0.386	0.317	−0.339	−0.198	0.688	0.401	−0.349	−0.203	−0.386	−0.317
9	−0.317	−0.337	−0.198	−0.387	0.401	0.785	−0.203	−0.398	0.317	0.337
10	−0.317	−0.317	−0.198	−0.198	0.401	0.401	−0.203	−0.203	0.317	0.317