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. Author manuscript; available in PMC: 2014 Oct 7.
Published in final edited form as: IEEE Int Conf Rehabil Robot. 2011;2011:5975459. doi: 10.1109/ICORR.2011.5975459

Fig. 7.

Fig. 7

Controlled steady-state gait energy over linear velocity (left) and maximum absolute eigenvalue over slope angle (right). For the sake of comparison between families of solutions, eigenvalues are calculated with the period-2 return map.