Fig. 5
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
![Fig. 5](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs40648-016-0052-4/MediaObjects/40648_2016_52_Fig5_HTML.gif)
Control laws located of the ankle joint of the swing foot during a walking step
From: An optimal jerk-stiffness controller for gait pattern generation in rough terrain
Control laws located of the ankle joint of the swing foot during a walking step