A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground

<div>Walking on the discontinuous compliant ground. (a) The relative position changes of the robot CoM. (b) The horizontal velocity changes of the robot CoM.</div>

Complexity

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Figure 6

Figure 6: A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground 

Figure 6 | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground 