Figure A5.

Real-time data for walking with high and low ground clearance during leg damage. (A) The inclination angle of AMOS II obtained from an inclinometer sensor installed inside the body. Negative value means that AMOS II tilts to its left. (B) Power consumption. (C,D) The foot contact signals of R1 and L2 for the high ground clearance case. (E,F) The foot contact signals of R1 and L2 for the low ground clearance case. They are filtered and mapped onto the interval [−1, +1] where +1 is the leg has no ground contact and vice versa. (G,H) Snap shots of the locomotion of AMOS II during the test with high and low ground clearance, respectively.