Figure 6.

A theoretically ideal robotic AAN system will evaluate the robotic/animal interactions after each step. The AAN system will start with a large window in which the robot is passive (left). After a step is completed (black line), the system will check how many times and during what part of the step cycle the robotic system was activated (red). If the robot is activated below some critical value, the size of the passive window will be decreased (middle). After the next step is completed, the system will reevaluate. The middle example shows a high level of robotic activity (red), and the response is to increase the size of the window (right). This system will continue to change after each step cycle.