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(A) Snapshots of control simulations: the upper and lower figures show balancing behaviors with and without gain adaptation, respectively. A black star marks the edge point on the hip shell as a measurement reference. (B) Comparison between the positions of the robot’s CoM using standard WBLC versus adaptive WBLC, where the desired x and y positions of the CoM is the center position between two feet [3.80, ×, 10–5, −0.167] m, and the desired height of the CoM is 0.7 m.
