34

transition
info

DOF:

state

1

0
0
0
0
0
0

2

0
0
0
0
0
0

3:0

0
0
0
0
0
0

3:1

-50
-50
-20
-10
-10
-10

4

60
60
0
0
0
0

5:0

-5
-5
5
0
0
0

(b)

5:1

0
0
0
0
0
0

6:0

0
0
0
0
0
0

6:1

-10
-10
-10
-50
-50
-20

7

0
0
0
60
60
0

8:0

0
0
0
-5
-5
5

8:1

0
0
0
0
0
0

S1
S2
S3
S4
S5
S6

0
.2
.2
0
.2
.2

R

L

Figure 3.7 - Forward walking base PCG for a simple human model
(a)State diagram (right foot dashed). Poses P_iand P_i' are left-right symmetric.
(b) Pose table. All DOFs are in degrees relative to reference position.
Transition information is given as time (seconds) followed by an optional
foot sensor type (left or right) for sensor-based transitions.

State

S1

S2

S3

S4

S5

S6

Description

Right foot placed on ground
Left leg begins forward swing (knee bent for ground clearance)

Right leg propels body forward
Left leg continues forward swing (knee bent for ground clearance)

Left leg extends in anticipation of ground contact

Left foot placed on ground
Right leg begins forward swing (knee bent for ground clearance)

Left leg propels body forward
Right leg continues forward swing (knee bent for ground clearance)

Right leg extends in anticipation of ground contact