Figure12
![Adaptive robust control for biped walking under uncertain external forces](https://image.oaes.cc/a2e48ec2-65e4-426e-b03e-b6d0775e232e/ir3026-12.jpg)
Figure 12. The comparisons of joint errors with time. (A) with adaptive sliding mode control (SMC); (B) without adaptive SMC.
Figure 12. The comparisons of joint errors with time. (A) with adaptive sliding mode control (SMC); (B) without adaptive SMC.
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