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

Table 4

Set of coefficients of damping of the compliant ground (×10⁴ N·s/m).

c1	c2	c3	c4	c5
0.02	0.08	0.32	1.28	5.12