A single gait cycle of the human walking pattern. In the single support
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![A single gait cycle of the human walking pattern. In the single support](https://c5.rgstatic.net/m/4671872220764/images/template/default/profile/profile_default_m.jpg)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/profile/Yixiang-Liu-2/publication/317117440/figure/tbl1/AS:669148128485395@1536548754842/The-main-physical-parameters-of-the-biped-robot-model_Q320.jpg)
A single gait cycle of the human walking pattern. In the single support
![A single gait cycle of the human walking pattern. In the single support](https://i1.rgstatic.net/ii/profile.image/278790245765121-1443480182184_Q64/Kensuke-Harada.jpg)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![A single gait cycle of the human walking pattern. In the single support](https://d3i71xaburhd42.cloudfront.net/67e978280df1ed74b8b63a8fd46e03a5724022e5/9-Figure7-1.png)
Figure 1 from Human-Like Walking with Heel Off and Toe Support for Biped Robot
![A single gait cycle of the human walking pattern. In the single support](https://i1.rgstatic.net/publication/317117440_Human-Like_Walking_with_Heel_Off_and_Toe_Support_for_Biped_Robot/links/5a33cb3c458515afb6926cf8/largepreview.png)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/publication/356697882/figure/fig1/AS:1098271355351041@1638859704326/Static-forces-acting-on-the-robot-The-supporting-forces-and-torques-of-the-supporting_Q320.jpg)
A single gait cycle of the human walking pattern. In the single support
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/publication/327774329/figure/fig2/AS:1086476053950489@1636047485476/The-virtual-model-of-the-WPFO_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![A single gait cycle of the human walking pattern. In the single support](https://i1.rgstatic.net/ii/profile.image/355438487982080-1461754547509_Q512/Yixiang-Liu-2.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/publication/309886750/figure/fig1/AS:11431281155407287@1683183459029/Schematic-diagram-and-physical-structure-of-the-bio-inspired-semi-active-joint_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![A single gait cycle of the human walking pattern. In the single support](https://c5.rgstatic.net/m/435982309481010/images/template/default/author/author_default_m.jpg)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/publication/286491643/figure/fig1/AS:11431281155427910@1683190664917/Pro-E-model-of-the-passive-dynamic-walking-robot_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/profile/Yixiang-Liu-2/publication/302910443/figure/fig5/AS:381279334879233@1467915485113/Joint-trajectories_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![A single gait cycle of the human walking pattern. In the single support](https://www.researchgate.net/publication/299541127/figure/fig5/AS:11431281154444234@1682794717385/a-Angular-velocity-of-the-swing-and-stance-legs-and-b-Angular-velocity-of-the-swing_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
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