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

42

IMAGE Imgs/thesis.final.w657.gif

IMAGE Imgs/thesis.final.w656.gif

(a)


2

0
0
0
0
0
0


2

0
0
0
0
0
0

(b)


7

0
0
0
0
0
0


7

0
0
0
0
0
0

transition
info


0
0
0
0
0
0


transition
info


0
0
0
0
0
0

DOF:


state


DOF:


state

1

0
0
0
0
0
0


1

0
0
0
0
0
0

3:0

0
0
0
0
0
0


3:0

0
0
0
0
0
0

3:1

0
0
0
0
0
0


3:1

0
0
0
0
0
0

4

0
0
0
0
0
0


4

0
0
0
0
0
0

5:0

0
0
0
0
0
0

(c)

5:0

0
0
0
0
0
0

5:1

0
0
0
0
0
0


5:1

0
0
0
0
0
0

6:0

0
0
0
0
0
0


6:0

1
1
1
0
0
0

6:1

1
1
1
0
0
0


6:1

0
0
0
0
0
0

8:0

0
0
0
0
0
0


8:0

0
0
0
0
0
0

8:1

0
0
0
0
0
0


8:1

0
0
0
0
0
0

S1
S2
S3
S4
S5
S6


S1
S2
S3
S4
S5
S6

(d)
Figure 3.14 - Right hip pitch and roll perturbations for a simple
human model. During states S1 to S3, the right
leg is the stance leg. DOF 6:1 is right hip pitch.
DOF 6:0 is right hip roll.
(a) hip pitch (viewed from right)
(b) hip roll (viewed from rear)
(c) hip pitch (pose table)
(d) hip roll (pose table)


Figure 3.16 shows the relationship between the stance hip pitch perturbation and the forward and

lateral component of each of the three types of RVs introduced in Section 3.5.

Figure 3.17

shows similar results for the stance hip roll perturbation.

Each curve represents the value of the

[CONVERTED BY MYRMIDON]