From the data, the team formed a mathematical model of walking which establishes every joint as a pendulum with a corresponding equation.
从数据,该球队形成步行的一个数学模型,建立各关节作为具有摆相应的方程。
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Secondly, it also talks about how the PD control method, the fuzzy control method and the sliding mode control method control the flexible-joint inverted pendulum system.