An internal combustion engine combusts a first fuel or a second fuel. A method for controlling the engine comprises supplying first fuel to at least one combustion chambers of the internal combustion engine, stopping the supply of the first fuel to the combustion chamber in response to an engine operating condition, and fueling with the second fuel to the at least one combustion chamber after a predetermined period, so as to maintain an engine speed within a predetermined range.

 
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> Device for absorbing floor-landing shock for legged mobile robot

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