Before revision:  The power of the proposed approach is demonstrated through two experiments on a planar biped AMBER-3M: the first with rigid point feet , and the second with induced model uncertainty through the addition of springs where the added compliance was not accounted for in the gait generation or in the controller.
After revision:  The power of the proposed approach is demonstrated through two experiments on a planar biped AMBER-3M: the first with rigid point-feet , and the second with induced model uncertainty through the addition of springs where the added compliance was not accounted for in the gait generation or in the controller.