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Figure 3.14 - Right hip pitch and roll perturbations .................................................... 42 Figure 3.15 - Typical effect of stance hip perturbations................................................ 43 Figure 3.16 - Balance RV components vs linearly scaled hip pitch perturbation.................... 44 Figure 3.17 - Balance RV components vs linearly scaled hip roll perturbation ..................... 45 Figure 3.18 - Direction of change of forward RV components with hip pitch ...................... 46 Figure 3.19 - Estimate of desired lateral RV components.............................................. 48 Figure 3.20- Balancing process for each step ........................................................... 48 Figure 3.21 - Unobserved state problem................................................................. 49 Figure 3.22 - Model construction and extrapolation.................................................... 49 Figure 3.23 - 2D sampling strategies..................................................................... 51 Figure 3.24 - Sampling point pitfalls in discrete model construction................................. 53 Figure 3.25 - Torso servo parameters.................................................................... 54 Figure 3.26 - Pelvis-based up vector balance indicator ................................................ 55 Figure 3.27 - Falling with torso servoing enabled...................................................... 55 Figure 4.1 - A sequence of steps from a walking limit cycle .......................................... 57 Figure 4.2 - Continuous-time up-vector RV component phase diagrams............................ 58 Figure 4.3 - Nominal up-vector RV target range and plan-views..................................... 60 Figure 4.4 - Discrete RV values for L-F sampling, Qd Figure 4.5 - Discrete RV values for SP sampling, Qd Figure 4.6 - Discrete RV values for L-F sampling, Qd Figure 4.7 - Step length vs step number ................................................................. 64 Figure 4.8 - Continuous-time swing-COM RV phase diagrams ...................................... 65 Figure 4.9 - Swing-COM RV target range and hip plots............................................... 67 Figure 4.10 - Discrete RV values for L-F sampling, Qd Figure 4.11 - Discrete RV values for SP sampling, Qd Figure 4.12 - Step length vs step number, SP sampling............................................... 69 Figure 4.13 - Discrete RV values for SP sampling, Qd |
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