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

Figure 6

The processes of selecting the DOI of SPBW. (a) Initial DOI and DOC (b) DOI and DOC after the first iteration; (c) DOI and DOC after the second iteration; (d) DOI and DOC after the third iteration; (e) DOI and DOC after the fourth iteration; (f) DOI and DOC after the fifth iteration; (g) the formal DOI.

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