I found a problem on page 386.
From page 385 I followed the instructions in points 1,2,3 and 4, but on reaching point 5 on page 386, what I show in the images I attach. When trying to move the ankle and the foot to get the position of Figure 9.49, the knee is uncontrollable.
Please tell me what the problem is.
Thank you very much.
Thank you for your errata submission. This will be presented to the editorial team for review.