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

Table 5

Distribution of the coefficients of stiffness of the compliant ground.

i	ki (×10^5 N/m)	ji
1	0.7000	1
2	4.7000	2
3	0.3000	8
4	3.8000	11
5	4.0000	14
6	2.2870	19
7	6.0580	33
8	6.0300	41
9	3.0440	45
10	4.5430	51
	Stop	37