Experimental Evaluation of the Accuracy of Biped Model to Predict the Kinematics during Walking

Table 3

Stiffness and damping.

fp (Hz)	k1 (kN/m)	k2 (kN/m)	ξ1	c2 (kN·s/m)
1.8	14	62	0.08	14.6
2.0	17
2.2	20