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

Table 7

Series of widths and locations of potholes I.

i	Wgi (m)	Pi	i	Wgi (m)	Pi
1	0.21	5	5	0.21	24
2	0.20	9	6	0.20	28
3	0.26	14	7	0.26	33
4	0.24	19	8	0.24	37