A Theory of Cheap Control in Embodied Systems
Fig 7
Left-hand side: The simulated hexapod with a display of the joint configurations. Right-hand side: Visualization of the target walking pattern. The plot shows which leg touched the ground at which point in time. Blue areas refer to a contact with a the ground, while orange areas refer to points in time during which the correspond leg did not touch the ground. The different legs are plotted over the y-axis, while each point on the x-axis refers to a single point in time.