44

0.8

0.6

0.4

0.2

0

-0.2

Q_fwd

Q_fwd

Q_fwd

Q_lat

Q_lat

Q_lat

-20-15 -10-5

0

5

10

15

20

hip pitch (deg.)

(a)

hip pitch (deg.)

(b)

0.6

0.4

0.2

0

-0.2

-0.4

-20 -15 -10-50510

hip pitch (deg.)

(c)

15

20

hip pitch (deg.)

(d)

0.8

0.6

0.4

0.2

0

-0.2

-20 -15 -10-5

0

5

10

15

20

hip pitch (deg.)

(e)

(f)

Figure 3.16 -

Balance RV components vs linearly scaled hip pitch perturbation
(a) - (b) up vector
(c) - (d) swing-COM vector
(e) - (f) stance-COM vector