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Fig. 10 | ROBOMECH Journal

Fig. 10

From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait

Fig. 10

Reference and actual forward gait speed a even in the obstacles area, the gait speed was hardly decreased, which caused oscillation of actual gait speed; the robot could not brake its speed on the goal, and wasted about 16 s to reach the goal; b in the first stable area, the gait speed was rapidly accelerated to prioritize efficiency; in the obstacles area, the robot braked to prioritize stability

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