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. Author manuscript; available in PMC: 2014 Oct 14.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2011;2011:7820–7823. doi: 10.1109/IEMBS.2011.6091927

Fig. 1.

Fig. 1

Diagrams of the 3D biped's hybrid system ℋ (left), frontal and sagittal planes (middle), and controlled reduction (right). The control strategy dynamically decouples the 4-DOF dynamics of the sagittal plane by reducing the yaw DOF of the transverse plane and the roll DOF of the frontal plane.