Figure 6.
(a,b) Experimental results showing the transition between walking and standing motion by changing ω (see electronic supplementary material, movie S5): (a) the gait diagram and (b) the corresponding phases. The shaded region (16.0–26.0s) indicates the time during which ω = 0.0 rad s−1. (c,d) Experimental result showing the transition during a change in walking velocity by changing ω: (c) the gait diagram and (d) the corresponding phases. The shaded region indicates the time during which ω =0.6 rad s−1. (Online version in colour.)