The show's most spirited moments belonged to Kendrick Jones ("The Scottsboro Boys"), a skinny young tap-dancer and occasional singer, who delivered spontaneous variations on Michael Jackson's moonwalk; the flashiest found him "floating" his legs together from a wide-open stance.
The region (pi _{mathrm{grp, all}} (L_i,L_j,L_k)), which is the whole admissible region of the contact point for the groping leg, is obtained as the union of the regions (pi _{mathrm{grp}}) of the three potential float legs together.
Finally, in figure d, by repeating the same procedure for the other float legs ((L_{i,j})), the admissible region of groping leg can be calculated as in the gray triangle Fig. 5 Definition of the environment where the robot walks in the simulation.
Salzman, 30, still has the quick feet and strong legs required to spin and stop the floating logs in a high-speed attempt to make an opponent fall.
Let leg (L_k) be the float leg in Step C of Fig. 2 without loss of generality.
Because the groping leg (L_{mathrm{grp}}) can apply the maximum force when one of the legs is floating, we consider leg (L_k) as the float leg in the leg-grope movement.
Admissible region of groping leg The case where leg (L_k) is assumed to be a float leg in the leg-grope movement was explained above.
In fact, the vertical force of one of the three legs is assumed to be zero (we call this leg the "float leg" ), because the groping leg can apply the maximum force when one of the other legs is floating.
Admissible region of the groping leg for all admissible COG positions with a particular float leg Since leg (L_k) is the float leg, the admissible region (pi _{mathrm{grp}} (L_i,L_j,L_{mathrm{grp}})) of the contact point for the groping leg considering an admissible region of COG is calculated as follows.
