Figure 5.

Cartesian values of the desired and actual foot position of (A) X, (B) Y, and (C) Z positions vs. time for the left foot. Desired angles generated by the inverse kinematics and actual angles achieved by the motors of (D) hip in sagittal, (E) knee in sagittal, and (F) hip in coronal plane vs. time for left leg. The flat regions in the knee plot indicate the stance phase of gait. The red lines denote the actual position/angle reached by the robot and the blue lines denote the desired position/angle computed by the algorithm.