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)
![](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://d3i71xaburhd42.cloudfront.net/67e978280df1ed74b8b63a8fd46e03a5724022e5/5-Figure4-1.png)
Figure 1 from Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](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
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PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](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
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PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot
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Applied Sciences, Free Full-Text
![](https://d3i71xaburhd42.cloudfront.net/67e978280df1ed74b8b63a8fd46e03a5724022e5/5-Figure3-1.png)
Figure 1 from Human-Like Walking with Heel Off and Toe Support for Biped Robot
![](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
![](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
![](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.mdpi.com/applsci/applsci-07-00499/article_deploy/html/images/applsci-07-00499-g002-550.jpg)
Applied Sciences, Free Full-Text
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PDF) Human-Like Walking with Heel Off and Toe Support for Biped Robot