1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

3.7 Linear, Sampled "Balance" Control ............................................................ 46


3.7.1 Desired RV Values........................................................................ 47

3.7.2 Constructing and Applying the Discrete System Model.............................. 48


3.8 Torso Servoing ................................................................................... 53

3.9 Conclusions ....................................................................................... 56


4. BALANCED WALKING RESULTS..............................................57


4.1 Up Vector Regulation Variables ................................................................ 58


4.1.1 Other Observations ....................................................................... 63


4.2 Swing-COM Regulation Variables ............................................................. 64

4.3 Stance-COM Regulation Variables ............................................................. 70

4.4 Torso Servoing ................................................................................... 72

4.5 Robo-bird Running............................................................................... 73

4.6 Conclusions ....................................................................................... 74


5. WALKING VARIATIONS.........................................................76


5.1 Speed Control..................................................................................... 76

5.2 Base PCG Parameterization ..................................................................... 81

5.3 Turning Perturbations............................................................................ 82


5.3.1 Point and Path Following................................................................ 87


5.4 Stride Rate Perturbation.......................................................................... 89

5.5 Other Interesting Variations ..................................................................... 91


5.5.1 Bent-Knee Walking....................................................................... 91

5.5.2 Bent-Over Walking ....................................................................... 92

5.5.3 Ducking .................................................................................... 93


5.6 Conclusions ....................................................................................... 95


6. CONCLUSIONS AND FUTURE WORK.........................................96


6.1 Future Work....................................................................................... 97


6.1.1 Better Discrete System Models.......................................................... 97


v

[CONVERTED BY MYRMIDON]