65

but rather tends to drift around in near-cycles and/or converge very slowly onto a limit cycle if at

all.

0.4

0.2

Q_fwd0

-0.2

(a)

(b)

(c)

-0.4

0.6

0.5

0.4

0.3

0.2

0.10.1

0

-0.1

-0.2

-0.3

Q_lat

0.4

0.2

Q_fwd⁰

-0.2

-0.4

0.4

0.2

0

-0.2

-0.4

0.6

0.5

0.4

0.3

0.2

0.1

0

-0.1

-0.2

-0.3

Q_lat

Q_fwd

0.7

0.6

0.5

0.4

0.3

0.20.2

Q_lat

0.1

0

-0.1

-0.2

-0.3

Figure 4.8Continuous-time swing-COM RV phase diagrams. The
two curves represent the left and right feet respectively
(i.e. swing-COM and stance-COM at various times in the
cycle).
(a) F-L-sampling, Q^d
= [-0.05,0]
(b) L-F-sampling, Q^d
= [0,0]
(c) SP-sampling, Q^d
= [0,0]