Before revision:  Thus our proposed gait synthesizer works as a fast MPC-style planner to guarantee the stability of robots . Simulation and experimental results on an 8 degrees of freedom (DoF) bipedal robot are provided to show the performance and robustness of this method for walking and standing.
After revision:  Thus our proposed gait synthesizer works as a fast MPC-style planner to guarantee the feasibility and stability of the full dimensional robot . Simulation and experimental results on an 8 degrees of freedom (DoF) bipedal robot are provided to show the performance and robustness of this method for walking and standing.