83

transition
info

0 0 0 0 0 0

transition
info

0 0 0 0 0 0

DOF:

state

DOF:

state

1

0
0
0
0
0
0

1

0
0
0
0
0
0

2

0
0
0
0
0
0

2

0
0
0
0
0
0

3:0

0
0
0
0
0
0

3:0

0
0
0
0
0
0

3:1

0
0
0
0
0
0

3:1

0
0
0
0
0
0

3:2

1
0
0
0
0
1

3:2

0
1
1
1
1
0

4

0
0
0
0
0
0

4

0
0
0
0
0
0

5:0

0
0
0
0
0
0

(a)

5:0

0
0
0
0
0
0

(b)

5:1

0
0
0
0
0
0

5:1

0
0
0
0
0
0

6:0

0
0
0
0
0
0

6:0

0
0
0
0
0
0

6:1

0
0
0
0
0
0

6:1

0
0
0
0
0
0

6:2

-1
-1
0
0
-1
-1

6:2

0
0
-1
-1
0
0

7

0
0
0
0
0
0

7

0
0
0
0
0
0

8:0

0
0
0
0
0
0

8:0

0
0
0
0
0
0

8:1

0
0
0
0
0
0

8:1

0
0
0
0
0
0

S1
S2
S3
S4
S5
S6

S1
S2
S3
S4
S5
S6

(c)
Figure 5.5- Turning perturbations for human model with ball-and-socket hips
(DOF 3:2 and DOF 6:3).
(a)Unit-scaled right turning perturbation
(b)Unit-scaled left turning perturbation
(c)State diagram of relevant DOFs for right turning perturbation.
Feet indicate hip twist with respect to pelvis.