
3.1 Limit Cycles....................................................................................... 23
3.2 Control Formulation.............................................................................. 25
3.3 Application to Bipedal Locomotion............................................................. 31
3.4 Nominal Open-loop Control, Unom ........................................................... 32
3.5 Choice of Regulation Variables, Q ............................................................. 37
3.6 Choice of Perturbation Parameters, [!]U........................................................ 40
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