A single gait cycle of the human walking pattern. In the single support
![](https://www.researchgate.net/publication/317117440/figure/fig3/AS:669148128505895@1536548754730/A-single-gait-cycle-of-the-human-walking-pattern-In-the-single-support-phase-the-heel.png)
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Figure 1 from Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](https://www.researchgate.net/publication/356697882/figure/fig2/AS:1098271355338754@1638859704337/Dimensional-spring-damping-model-and-attitude-control-of-body-According-to-the-virtual_Q320.jpg)
A single gait cycle of the human walking pattern. In the single support
![](https://pub.mdpi-res.com/applsci/applsci-07-00499/article_deploy/html/images/applsci-07-00499-g006.png?1569352264)
Applied Sciences, Free Full-Text
![](https://www.researchgate.net/profile/Yixiang-Liu-2/publication/317117440/figure/fig1/AS:571819598020608@1513343824286/The-seven-link-biped-robot-model-with-associated-geometric-and-inertial-properties-The_Q320.jpg)
A single gait cycle of the human walking pattern. In the single support
![](https://i1.rgstatic.net/ii/profile.image/11431281208815398-1701443022538_Q64/Sebastian-Nugroho.jpg)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
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Applied Sciences, Free Full-Text
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Applied Sciences, Free Full-Text
![](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
![](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
![](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
![](https://i1.rgstatic.net/ii/profile.image/272433924014083-1441964717200_Q64/Ary-Prihatmanto.jpg)
PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](https://d3i71xaburhd42.cloudfront.net/67e978280df1ed74b8b63a8fd46e03a5724022e5/9-Figure8-1.png)
Figure 1 from Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](https://www.researchgate.net/publication/309886750/figure/fig5/AS:11431281155396785@1683183459896/Play-operators-of-the-ascending-branch_Q320.jpg)
Yixiang LIU, PhD, Doctor of Engineering, Shandong University, Jinan, SDU, School of Control Science and Engineering
![](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