Fig. 11
From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait
Verification of behavior of VM-SAL the plotted data has the size based on \(\sigma _m^{-1}\) and the color based on the change of \(\sigma _m\); in the region 4 with above-average speed and high falling risk (i.e., when initial stage in the obstacles area), \(\sigma _m\) became large to easily decelerate for stability; in the middle of and after the obstacles area, excess increase of \(\sigma _m\) was restrained due to above-average speed and low falling risk (i.e., in the region 2)