Figure 8.

Results for the biped walker task. This figure illustrates the (initially) left hip angle denoted by q₁ and the left knee angle (q₃) for the multi-task learning scenario. Shown are the best learned trajectories using the proposed approach (with M = 2, N = 3 and Δ = 1) for the desired step heights of r^* ∈ {0.15, 0.2, 0.25, 0.3}. The true step heights of the learned walking patterns are 0.22 ± 0.07, 0.22 ± 0.08, 0.26 ± 0.08, 0.28 ± 0.08. The points in time of the ground contacts are denoted by large arrows for desired step heights of 0.25 m and 0.3 m. For the later additionally the duration of the stance and the swing phases are illustrated by large boxes.