1.	$M\ddot{q}+C\dot{q}+N+A_{\text{heel}}^T\lambda ={\tau }_{\text{exo}}+{\tau }_{\text{hum}}$	if aflat ≠ 0,
2.	${\dot{q}}^{+}=\left(I-M^{-1}{A}_{\text{flat}}^T{\left(A_{\text{flat}}{M}^{-1}{A}_{\text{flat}}^T\right)}^{-1}{A}_{\text{flat}}\right){\dot{q}}^{-}$	if aflat = 0,
3.	$M\ddot{q}+C\dot{q}+N+A_{\text{flat}}^T\lambda ={\tau }_{\text{exo}}+{\tau }_{\text{hum}}$	if $\left|c_{\mathrm{p}}\left(q,\dot{q}\right)\right|<l_{\mathrm{f}}$,
4.	${\dot{q}}^{+}={\dot{q}}^{-}$, ${\left(q{\left(1\right)}^{+},q{\left(2\right)}^{+}\right)}^T=\mathcal{G}$	if $\left|c_{\mathrm{p}}\left(q,\dot{q}\right)\right|=l_{\mathrm{f}}$,
5.	$M\ddot{q}+C\dot{q}+N+A_{\text{toe}}^T\lambda ={\tau }_{\text{exo}}+{\tau }_{\text{hum}}$	if h(q) ≠ 0,
6.	$\left(q^{+},{\dot{q}}^{+}\right)=\mathcal{J}\left(q^{-},{\dot{q}}^{-}\right)$	if h(q) = 0,