1. 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….

2. 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)

3. 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”