Continuous Walking On Changing Incline

We conducted a continuous walking test on a dynamically changing incline. The experiment commenced on a level surface with a 0-degree incline, progressively transitioning to the maximum incline of 20 degrees, and then returning to the initial 0-degree incline. Throughout the experiment, the treadmill maintained a constant speed of 0.9 m/s. To streamline the complexity of the experiment, we employed only three nominal trajectories: 1. Nominal Trajectory for Flat Ground Walking: Implemented during Cassie’s movement on inclines ranging from 0 to 7 degrees. 2. Nominal Trajectory for 8-Degree Incline: Applied as Cassie traversed inclines ranging from 8 to 14 degrees. 3. Nominal Trajectory for 15-Degree Incline:} Utilized when Cassie navigated inclines ranging from 15 to 20 degrees. \end{itemize}