% Matlab code simulation for walking without vision
nsims = 20;	% n simulations
nsteps = 20;	% n steps
in = [−1.152 2.182].*pi/180;		% orientation (mu, sd) (degrees to radians)
ro = [2.024 0.328].*0.3048;		% step length (mu, sd) (feet to meters)
th = [−0.122 1.332].*pi/180;		% bias (mu, sd) (degrees to radians)
cumth = cumsum([normrnd(in(1),in(2),nsims,1)…
normrnd(th(1),th(2),nsims,nsteps)],2);
steps = normrnd(ro(1),ro(2),nsims,nsteps);
cumx = cumsum([ones(nsims,1).*0 cos(cumth(:,2:end)).*steps],2);
cumy = cumsum([ones(nsims,1).*0 sin(cumth(:,2:end)).*steps],2);
plot(cumx',cumy','.:');