Fig. 13
From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait
ZMP margin scaled by the maximum distance to the edge of the support polygons In both cases, ZMP could be kept in the support polygons, although its margin was small when the robot ran; a in the case without VM-SAL, the robot could not keep its balance on the slope and failed; b in the case with VM-SAL, even on the slope, the robot got steady walking and ZMP also became stable