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I ¹ [kg·m ² ] 0.39 k _{h p} ^st [Nm/rad] (in LES) 18 m ¹ [kg] 2.3 k _{k p} ^st [Nm/rad] (in LES) 9.0 g[m/s ² ] 9.8 k _{a p} ^st [Nm/rad] (in LES) 2.0 l ¹ [m] 0.41 k _{h p} ^sw [Nm/rad] (in LES) 20 T ⁰ [s] 0.32 k _{k p} ^sw [Nm/rad] (in LES) 9.0 k _{h p} ^sw [Nm/rad] (in SSS) 26 k _{a p} ^sw [Nm/rad] (in LES) 3.0 k _{k p} ^sw [Nm/rad] (in SSS) 0.0 k sr [s] 0.35 k _{k v} ^sw [Nm·s/rad] (in SSS) 0.0 k ag [Nm/rad ² ] 3.9

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k _{k p} ^st [Nm/rad] (in SSS) 9.0 A th [rad] 0.16

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ドキュメント内 二脚ロボットを用いた人の Split-Belt Treadmill 歩容適応モデルの提案 (ページ 96-103)