Asymmetric walking with sd(t) = 0.6t − 0.1 m, KPL = KPR = diag[28, 28, 28], and KDL = KDR = diag[11, 11, 11]. Dashed lines: desired joint trajectories generated by gi(s¯,qsw,q3)=0 (i∈{L,R}) and sd(t).
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