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. Author manuscript; available in PMC: 2015 Feb 6.
Published in final edited form as: Proc IEEE Conf Decis Control. 2011 Dec;2011:669–674. doi: 10.1109/CDC.2011.6160848

Fig. 1.

Fig. 1

Diagrams of the 3D biped’s hybrid system ℋ (left), frontal and sagittal planes (middle), and controlled reduction (right). The first stage reduces the yaw DOF of the transverse plane, and the second stage reduces the lean DOF of the frontal plane, yielding the dynamics of the sagittal-plane biped.