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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Trans Control Syst Technol. 2017 Jan 17;26(1):181–193. doi: 10.1109/TCST.2016.2646319

Fig. 9.

Fig. 9

Step time period (top) and step linear velocity (bottom) from −20% to 20% BWS with real GS, virtual BWS, and non-generalized virtual BWS (Non-Gen VBWS). The non-generalized case corresponds to flat-foot control (50), which does not measure inertial coordinates, during all phases of stance.