Fig. 15From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitVerification of behavior of VM-SAL the plotted data has the size based on \(\sigma _m^{-1}\) and the color based on the change of \(\sigma _m\); on the slope, the state was kept in the region 3 to prevent speed fluctuation; the region 2 was hardly visited because running with high speed tends to be riskyBack to article page