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. Author manuscript; available in PMC: 2015 Jan 23.
Published in final edited form as: Proc IEEE Virtual Real Conf. 2010 Mar;2010:51–58. doi: 10.1109/VR.2010.5444812

Figure 1.

Figure 1

Resulting motion (thicker solid line, right y-axis) from (a) LLCM-WIP [2], (b) GUD WIP, and (c) Real Walking. In this example, the two WIP systems are driven by the same in-place steps (dashed line, left y-axis). The Real-Walking motion is caused by steps taken at approximately the same frequencies as the in-place steps for the WIP systems. Note LLCM-WIP’s resulting speed varies considerably. GUD WIP’s resulting speed is far steady – similar to Real Walking.