Corresponding to
our 12 *m/min* globally optimal walk is also a much
smaller step size of
0.1*m* than the 0.75*m* witnessed in humans.
Figure 4
also displays how the optimal size
of the step increases with increasing average forward
velocity; note that all cases yield a roughly linear relationship. The overall
trend we observed is very similar to the standard observation that [10]
optimal step length for human is directly proportional to the average forward
velocity. Since the biped has no foot, how step length should be compared to
that of a human is not clear.

Mon Oct 11 17:19:43 MET DST 1999