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. 2021 Jun 23;11:13140. doi: 10.1038/s41598-021-91714-1

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Pure feedforward and pure feedback (left and right columns, respectively) are adversely affected by (A) process and (B) sensor noise. Process noise refers to disturbances from the environment or imperfect actuation, and sensor noise refers to imperfect sensing. Plots show ground contact condition, leg angles, commanded leg torques, and noise levels versus time, including both the nominal condition without noise (dashed lines), and the perturbed condition with noise (solid lines). With an impulsive, process noise disturbance, pure feedforward control tended to fall, whereas pure feedback was quite stable. With sensor noise alone, pure feedforward was unaffected, but pure feedback tended to fall.