To accomplish this goal, we generate Ns samples from 2D uniform distribution of two variables: \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\theta }_{s}\in [-{\theta }_{max}^{s},{\theta }_{max}^{s}]$$\end{document}θs∈[−θmaxs,θmaxs], \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\theta }_{t}\in [-{\theta }_{max}^{t},{\theta }_{max}^{t}]$$\end{document}θt∈[−θmaxt,θmaxt] and enforce an objective function focusing on the trajectories of body center and foot:15\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$f=\sum _{{N}_{s}}({\omega }_{s}\,{f}_{s}+{\omega }_{v}\,{f}_{v})$$\end{document}f=∑Ns(ωsfs+ωvfv)