Before revision:  While directly solving these problems is extremely time-consuming, we propose a predictive gait synthesizer to solve them quickly online . Based on the full dimensional model, a library of gaits with different speeds and periods is first constructed offline.
After revision:  While directly solving these problems is extremely time-consuming, we propose a predictive gait synthesizer to offer immediate solutions . Based on the full dimensional model, a library of gaits with different speeds and periods is first constructed offline.