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

Table 6

Distribution of the coefficients of damping of the compliant ground.

i	ci (×10^5 N·s/m)	ji
1	2.8140	1
2	6.6470	2
3	4.6830	5
4	4.3980	8
5	7.3380	9
6	0.9570	24
7	6.0580	11
8	6.0300	14
9	3.0440	17
10	4.5430	20
	Stop	21