 The superior performance of our work is demonstrated through simulated comparisons and by using our quadruped robot Jueying Mini in our experiments .
<clarity>  The superior performance of our work is demonstrated through simulated comparisons and by using our quadruped robot Jueying Mini in our experiments .
 The superior performance of our work is demonstrated through simulating and real-world experiments on our quadruped robot Jueying Mini in our experiments .