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

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Semi-PV</td><td class="align_center">Poplar particle board</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Elastic modular</td><td class="align_center">0.39 GPa</td><td class="align_center">2.75 GPa</td></tr><tr><td class="align_left">Equivalent coefficient of stiffness</td><td class="align_center">9.7 × 10<sup>4</sup> N/m</td><td class="align_center">69 × 10<sup>4</sup> N/m</td></tr><tr><td class="align_left">Equivalent coefficient of damping</td><td class="align_center">0.0115 × 104 N·s/m</td><td class="align_center">0.0035 × 104 N·s/m</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of 4 mm poplar particle board and semirigid PVC mat.</div>

Complexity

tab2

Table 2

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

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