Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method

Figure 13

The effect of weight on ZMP. (a)  = 0 (left: gait1, right: gait2). (b)  = 0.25. (c)  = 0.5. (d)  = 0.75. (e)  = 1.

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(b)

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