Research Article
Hierarchical Sliding Mode Algorithm for Athlete Robot Walking
Figure 13
AR at representative time (a) , (b) , and (c) . Number 1; curved part of elastic part of leg 2; number 2: linear part of elastic part of leg 2; number 3: link 4; number 4: link 2; number 5: linear part of elastic part of leg 1; number 6: curved part of elastic part of leg 1.
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(b) |
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