Figure 9

A Nao variation has been implemented in the model to reproduce this simulation. (RepeatedTask on Nao_inf )

Algorithm parameters : (Should make it work)

		<listOfAlgorithmParameters>
			<!-- Absolute tolerance -->
			<algorithmParameter kisaoID="KISAO:0000211" value="1.0e-5"/>
			<!-- Relative tolerance -->
			<algorithmParameter kisaoID="KISAO:0000209" value="1.0e-5"/>
			<!-- Maximum step size -->
			<algorithmParameter kisaoID="KISAO:0000467" value="0.00001"/
		</listOfAlgorithmParameters>