Fig. 3From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitExamples of the virtual dynamics in one dimension a the robot converged on the goal (20 m) by the settling time (30 s) without disturbance (\(-5\) N); b even with disturbance, the robot reach the goal late while smoothly changing its speed. a W/O disturbance, b W/ disturbanceBack to article page