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. 2019 Oct 4;6(5):579–594. doi: 10.1089/soro.2018.0126

FIG. 10.

FIG. 10.

Time development of a body state. Seven values (four distances of adjacent segments and three bending angles) were standardized and reduced to three dimensions using principal component analysis. The dimension-reduced states were plotted, starting at the green star marker. The color of the line transitions from red to blue as time proceeds. By the time the color of the line becomes blue, the trajectory converged to a stationary orbit; in other words, a limit cycle was formed.