N , calculate the module of the difference between the paired values, |x 2,i ? x 1,i |, and sign(x 2,i ? x 1,i ). The sign function returns 1 if the difference is positive ,
, In addition to these, other, lower level parameters, could possibly be used, but they have a lower impact in the behavior of the locomotion, and a list of twenty parameters is already one that needs to be decreased for this kind of optimization to work effectively. ? ?: Time constant of the dynamical equations for the motion primitives
Period of oscillation of the generators oscillators of both legs ,
hip : Amplitude for the hip roll function of the balancing motion ,
ankle : Amplitude for the ankle roll function of the balancing motion ,
hip : Amplitude for the hip pitch function of the flexion motion ,
knee : Amplitude for the knee pitch function of the flexion motion ,
ankle,h : Amplitude for the ankle pitch function of the flexion motion, hip function contribution ,
ankle,k : Amplitude for the ankle pitch function of the flexion motion, knee function contribution ,
hip : Amplitude for the hip pitch function of the compass motion ,
ankle : Amplitude for the ankle pitch function of the compass motion ,
knee : Amplitude for the knee pitch function of the knee yielding motion ,
ankle : Amplitude for the ankle pitch function of the knee yielding motion ,
hip : Amplitude of the bell curve for the flexion motion for the hip ,
knee : Amplitude of the bell curve for the flexion motion for the knee ,
pitch : Offset for the hip pitch trajectory, left and right equal ,
pitch : Offset for the knee pitch trajectory, left and right equal ,
, pitch : Offset for the ankle pitch trajectory, left and right equal
roll : Offset for the hip roll trajectory, left and right symmetrical ,
, roll : Offset for the ankle roll trajectory, left and right symmetrical
yaw : Offset for the hip yaw trajectory, left and right symmetrical ,
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