Figure 2 (IMAGE)

Tohoku University

Figure 2

Caption

Transition process from walking to running controlled using the AI-CPG method. (a) Sinusoidal signals with increasing frequency were used as input to the rhythm generator of the CPG controller. (b) Centre-of-gravity velocity, froude number and flight phase ratio. The black dashed lines indicate where the gait changes. (c) Transition from walking to running. (d) Time diagram of the walking cycle. (e) Time diagram of the running cycle. 

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Tohoku University

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