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. 2017 Feb 24;12(2):e0172215. doi: 10.1371/journal.pone.0172215

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© 2017 Reimann et al

This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

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Fig 6 — Step response to LEFT (blue) and RIGHT (yellow) stimuli from the model simulations. The top represents results from the controller without the CoP shift mechanism, the bottom results from the controller with the CoP shift mechanism.