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

Table 9

Series of widths and locations of potholes II.

i	Wgi (m)	Pi
1	0.21	5
2	0.21	10
3	0.25	14
4	0.23	18
5	0.25	22
6	0.22	27
7	0.21	31
8	0.20	35