▪ བོད་ཡིག འཇོར་ཇི་ཡ། (ཨ་མེ་རི་ཁ།)
For the discrete states, due to the lack of dynamic effects of the legs during the swing phase, the attack angle us = [αf, αh]T is the main control input, which is used to eliminate the deviations of the states.
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