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The Admittance Control algorithm for control of biped gait in the sagittal plane. θ1 is hip angle, θ2 is knee angle, and θ3 is the ankle angle computed based on Equations (1-3), respectively. Velocities in X and Y are represented by vx and vy, respectively. Acceleration in X and Y are represented by ax, and ay, respectively. Position in X and Y are represented by px and py, respectively.
