| Abstract | Simulation data to investigate the effect of joint variability on planar biped falling. The six-link biped was controlled using hybrid zero dynamics. The variability at each joint for each step was described by a Fourier series with magnitude coefficients and a fundamental frequency. Different conditions were tested by varying the standard deviation of the Gaussian distribution describing the magnitude coefficients, the mean of the Gaussian distribution describing the fundamental frequency, and the standard deviation of the Gaussian distribution describing the fundamental frequency. High and low values of each factor were tested. A resolution IV fractional factorial experimental design was used to determine which sets of factors to test. This repository includes 10 sets of simulation runs. Gaits at three distinct walking speeds were tested. Simulations were performed until the biped fell or took 500 steps.
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