The paper entitled 'Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion' was presented in Robio 2010 conference, Tianjin, China.
The simulated robot is a child-size robot whose full leg length of the robot is 0.5m only.
So the normalized walking speed is 0.6-1.4 leg/s. If the robot would be adult size, it is equal to 2.16km/h to 5.04 km/h.
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