Fig. 1
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
![Fig. 1](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs40648-016-0052-4/MediaObjects/40648_2016_52_Fig1_HTML.gif)
The minimum jerk based control approach during the swing phase
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
The minimum jerk based control approach during the swing phase