Fig. 17From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitIllustrations of the forces to avoid obstacles and reach the goal a to avoid collision with obstacles, repulsive forces according to the Mahalanobis distances with them are added; b to escape from stationary points caused by obstacles, a part of the attractive force is rotated along with a tangential direction of the contour lines. a Repulsive force, b explorative forceBack to article page