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

<div>Models of the rigid robot and the compliant ground structure.</div>

Complexity

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Figure 2

Figure 2: A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground 

Figure 2 | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground 