Hello Jo,

> I'm interested in what is meant by the term phase space.

Phase space shows the evolution of the system using two variables over

time. A while back, Tom Jenner suggested Chaos Theory Tamed, and this

book really gives a good description of and a few methods for creating

phase diagrams.

> What variables would be being plotted in a diagram of the phase

> space of a robotic control system?

Brossl Hasslacher likely used several sets of variables. We know of

two. The first was the active neuron time. The second set included the

step taken and power supply voltage.

One of my back-burner projects is to use the inverted pendulumn walker

model to analyze a Beam walker and plot a phase diagram of the motion

on different surfaces (e.g. carpet versus smooth floors).

J Wolfgang Goerlich