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50
Subject R
110 steps/min
91 meters/min
0
50
P
100 steps/min
74 meters/min
0
50
J
121 steps/min
104 meters/min
0
50
B
102 steps/min
72 meters/min
0
50
98 steps/min
71 meters/min
C
0
50
G
111 steps/min
88 meters/min
0
50
K
112 steps/min
87 meters/min
0
0
50
100
Time, percent of cycle
time-space curves traced by the feet
time-space curve traced by the pelvis
pelvis at time
t
pelvis
left foot
right foot
foot at time
t
leg configuration at time
t
determined by inverse kinematics
FIGURE 9.28
Pelvis and feet constraints satisfied by inverse kinematics.
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