Skip to main content
. Author manuscript; available in PMC: 2014 Oct 17.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Feb 7;59(5):1310–1318. doi: 10.1109/TBME.2012.2186808

Fig. 2.

Fig. 2

Steady-state passive biped: step length (left), step velocity (step length divided by time period; center), and impact energy dissipation (right) over slope angles between 0.06 and 0.0853 rad (3.44 and 4.89 degrees). Solution is solid if stable and dashed if unstable.