An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker

Figure 4

The processes of estimating the DOA of SPBW by the MICM method. (a) Initial discretization of DOI; (b) initial DOF; (c) DOF after the first iteration of the cell delete procedure; (d) stable DOF; (e) approximate DOC and stable DOF; (f) initial DOA and initial DOC; (g) DOA and DOC after the first iteration of the cell refinement procedure; (h) stable DOA and its corresponding DOC.

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