Fig. 4From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitExamples of the virtual dynamics in three dimensions in both cases, the robot could follow the leader point to the goal, although the distance between them seemed to be far. a Goal: (10 m, 10 m, 0°), b goal: (0 m, 10 m, 0°)Back to article page