Fig. 6From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitA sample of the gradient this gradient is divided into five regions; when stable state, the robot expects to go to/stay in high speed; when uncertain state, the robot expects to go to/stay in low speed; when further unstable state, the robot judges that this region is out of scope of VM-SAL. a Overview, b region divisionBack to article page