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The results show that the nominal 8-DOF model remains ZMP-stable for step completion times down to 0.5 s and for slope inclinations up to 22.5 degrees with the given foot geometry, and that ZMP stability is governed by the mass distribution among the links rather than the total mass of the robot.
Iterative parameter estimation can slash branch deformation energy by over a third, revolutionizing how robots interact with delicate plant structures.