Adjusting kinematics and kinetics in a feedback-controlled toe walking model

Table 1 List of parameters defining fourth order polynomial representation in fiveselected reference trajectories

p_ss(t)	L_st,v,d(q_st,v)	q_P(q_st,v)	q_T(q_st,v)	L_st,ankle,d(q_st,v)	L_sw,ankle,d(q_st,v)
P _ss,start	L _st,v,start	q _P,start	q _T,start	L _{st,ankle,start}	L _{sw,ankle,start}	position continuity
P _ss,mid	L _st,v,mid	q _P,mid	q _T,mid	L _st,ankle,mid	L _sw,ankle,mid	user defined
P _ss,end	L _st,v,end	q _P,end	q _T,end	L _st,ankle,end	L _sw,ankle,end	user defined
${\dot{P}}_{ss, start}$	${\dot{L}}_{st, v, start}$	${\dot{q}}_{P, start}$	${\dot{q}}_{T, start}$	${\dot{L}}_{st, ankle, start}$	${\dot{L}}_{sw, ankle, start}$	velocity continuity
${\dot{P}}_{ss, end}$	${\dot{L}}_{st, v, end}$	${\dot{q}}_{P, end}$	${\dot{q}}_{T, end}$	${\dot{L}}_{st, ankle, end}$	${\dot{L}}_{sw, ankle, end}$	user defined

ISSN: 1743-0003