The authors regret the inclusion of an error in the above article. On page 2, Table 1 contains a mistake in the ZMP equations.
The correct version of the ZMP equation in Table 1 is provided below.
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20230905083941088-0839:S0263574723000802:S0263574723000802_eqnU1.png?pub-status=live)
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20230905083941088-0839:S0263574723000802:S0263574723000802_eqnU2.png?pub-status=live)
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Published online by Cambridge University Press: 13 June 2023
The authors regret the inclusion of an error in the above article. On page 2, Table 1 contains a mistake in the ZMP equations.
The correct version of the ZMP equation in Table 1 is provided below.