
5.1 Speed Control..................................................................................... 76
5.2 Base PCG Parameterization ..................................................................... 81
5.3 Turning Perturbations............................................................................ 82
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5.3.1 Point and Path Following................................................................ 87
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5.4 Stride Rate Perturbation.......................................................................... 89
5.5 Other Interesting Variations ..................................................................... 91
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5.5.1 Bent-Knee Walking....................................................................... 91
5.5.2 Bent-Over Walking ....................................................................... 92
5.5.3 Ducking .................................................................................... 93
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5.6 Conclusions ....................................................................................... 95
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