Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

Table 1

The parameters of the bipedal robot module.

Parameters	Foot	Shank	Thigh	Haunch	Torso	Total
Mass (kg)	0.5	0.7	0.8	0.5	1.0	3.5
Center of mass (m)	0.02	0.23	0.45	0.5	0.6	1.8