Besides, the paper applies improved impedance control based on foot position to make legs achieve good transition from sway status to supporting status and expected force tracking.
同时论文结合改进的基于位置的阻抗控制策略，实现了摆动足从摆动相到支撑相的良好过渡和期望的足力跟踪问题。
Besides, the paper applies improved impedance control based on foot position to make legs achieve good transition from sway status to supporting status and expected force tracking.
同时论文结合改进的基于位置的阻抗控制策略，实现了摆动足从摆动相到支撑相的良好过渡和期望的足力跟踪问题。
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