91

Figure 5.14 - Average speed (m/s) for varying stride rates
Region A: k_striderate=0.0
Region B: k+1.0

Region C: k^striderate=
striderate^=-1.0
Region D: k_striderate=0.0
Other regions are transition regions.

Figure 5.14 shows the average speed of the pelvis over the course of the walk which is controlled

to stay relatively constant while the biped's stride rate increases and decreases.

A constant speed

implies that the stride length increases inversely with stride rate (and hence linearly with hold time)

for this particular perturbation.

5. 5

Other Interesting Variations

PCGs varied in other ways can also be balanced successfully.

Stylistic variations can be used to

convey different moods or emotions and allow a broader range of abilities.

In some cases,

simpler variations can be combined successfully to form more complex motions.

sections provide some examples.

The next few

5. 5. 1

Bent-Knee Walking

The perturbation of Figure 5.15 generates a walk with bent knees.

While this perturbation may

not seem particularly useful on its own, it can be successfully combined with other perturbations

to generate a ducking perturbation for the biped.