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

44

0.8

0.6

0.4

0.2

0

-0.2

IMAGE Imgs/thesis.final.w662.gif

IMAGE Imgs/thesis.final.w663.gif

Qfwd


Qfwd


Qfwd


Qlat


Qlat


Qlat

-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

IMAGE Imgs/thesis.final.w664.gif

IMAGE Imgs/thesis.final.w665.gif

-20 -15 -10-50510

hip pitch (deg.)

(c)

15

20

hip pitch (deg.)

(d)

0.8

0.6

0.4

0.2

0

IMAGE Imgs/thesis.final.w666.gif

IMAGE Imgs/thesis.final.w667.gif

-0.2

-20 -15 -10-5

0

5

10

15

20

hip pitch (deg.)

(e)

(f)

IMAGE Imgs/thesis.final.w668.gif

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

[CONVERTED BY MYRMIDON]