A Final Example Here I want to find a pattern, on the y-axis of a robotic dog, that corresponds to “walking on carpet” I will look at the first 140 seconds of walking on carpet to see if I can find a typical pattern. Then I will test it on a 11 minute section, where the robot starts to walk on cement for the first half, then starts to walk on carpet….

Here is the pattern I chose…. It seems to correspond to about two gait cycles… Here I accepted ALL the patterns as positives Lets see how it worked (next slide)

This works great! The pattern only fires when the robot is walking on carpet, never on cement. I have some false negatives, I need to increase the threshold….. “walking on cement” “walking on carpet”