1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

60

IMAGE Imgs/thesis.final.w6103.gif

10


5


0


-5

IMAGE Imgs/thesis.final.w6101.gif

IMAGE Imgs/thesis.final.w6102.gif

Qd
fwd

-10


10


5


0


-5

-30

-25

-20

-15

meters

(b)

-10

-5

0

(a)

IMAGE Imgs/thesis.final.w6106.gif

IMAGE Imgs/thesis.final.w6104.gif

IMAGE Imgs/thesis.final.w6105.gif

Qd
fwd

(c)


-10


10


5

-30

-25

-20

-15

meters

(d)

-10

-5

0

IMAGE Imgs/thesis.final.w6109.gif

IMAGE Imgs/thesis.final.w6107.gif

IMAGE Imgs/thesis.final.w6105.gif

0


-5

-10

Qd
fwd

(e)


-30


-25


-20


-15


-10


-5


0

meters

(f)

Figure 4.3 - Nominal up-vector Qd
range and corresponding hip plots for
each sampling method. All trials are limited to a maximum of
60 steps. The biped initially faces left (i.e. in the -x direction).
(a) - (b)F-L sampling
(c) - (d)L-F sampling
(e) - (f)SP sampling

[CONVERTED BY MYRMIDON]