表 5. Plantar load condition of single-leg support phase.
单腿支撑相的足底载荷条件
| 工作步 | 载荷条件 | |
| t/s | 载荷/N | |
| 1 | 0 | 0 |
| 2 | 0.1 | 750 |
| 3 | 0.2 | 1 250 |
| 4 | 0.3 | 1 750 |
| 5 | 0.4 | 1 000 |
| 6 | 0.5 | 750 |
| 7 | 0.6 | 500 |
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