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

Table 8

Distribution of the coefficients of damping of the compliant ground.

i	ci (×10^5 N·s/m)	ji
1	5.0870	1
2	7.5620	7
3	1.6730	9
4	5.6750	11
5	1.8910	16
6	0.9570	24
7	4.8590	33
8	3.6020	41
9	3.6710	45
10	5.2960	51
	Stop	37