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並前往https://books.google.com.tw/books?id=UaLSBwAAQBAJ&pg=PA109&lpg=PA109&dq=airmode&source=bl&ots=56WMyxzozE&sig=ACfU3U3gb3JzwoWBhvv7clks2-ZY_AtS_Q&hl=zh-TW&sa=X&ved=2ahUKEwjv1tO7xYb1AhVjsYsKHR65CXkQ6AF6BQihAhAD

Real-Time Control of Walking - 第 109 頁 - Google 圖書結果

((state leg | == 'D') && ( airmode l=0))); kcrab(leg ); when(((fz[ leg | < lightly ) && ( airmode == 0).) | | ((state leg |!= 'D') && ( airmode |> 0))); ...

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