95

5. 6

Conclusions

In this chapter, we have shown that parameterized PCG perturbations can be used to generate a

variety of interesting gaits simply by modifying the underlying open loop control.

Smooth

transitions between motions were demonstrated and an example of the use of a simple feedback

mechanism to increase creature autonomy was given.

An approach to controlling the speed of a

walk without requiring modification of the underlying base PCG was also provided.

The basic

balance control introduced in Chapter 3 required no modification to be used successfully with

variable motions.