Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method

Table 1

Physical parameters of the biped model.

Symbol	Value	Name
	0.75 kg	Mass of foot
	1 kg	Mass of tibia
	2.5 kg	Mass of femur
	21.25 kg	Mass of torso
	0.16 m	Length of foot
	0.035 m	Height of foot
	0.5	Ratio of forefoot
	0.298 m	Length of tibia
	0.279 m	Length of femur
	0.5678 m	Length of torso
		Rotational inertia of foot
		Rotational inertia of tibia
		Rotational inertia of femur
		Rotational inertia of torso