Figure 11.

This figure illustrates the joint angle trajectories (arm, hip, knee and ankle) of a 4-link robot model during a balancing movement for different initial states of the arm joint (1, 0.5, 0.2, 0, −0.2, −0.4, −0.6). The applied policies were learned for an initial arm posture of ϕ_1arm = 0. (A) The valid range of the arm joint using DMPs is ϕ_1arm ∈ [−0.2, 0]. Large dots in the plot indicates that the robot has fallen. (B) PMPs could generate valid policies for ϕ_1arm ∈ [−0.6, 0.5].