57

4.BALANCED WALKING RESULTS

This chapter describes the results of a series of experiments performed using the balance control

approach of Chapter 3. Various parameter choices are explored to determine their importance in

generating successful limit cycles and their effect on the resulting motion.

Control of the human

model is the primary focus of these experiments, although trials using the robo-bird model are

also included to demonstrate success with a significantly different bipedal model.

Sections 4.1,

4.2, and 4.3 present results obtained using each of the three choices of RVs introduced in Section

3.5. Section 4.4 examines the effectiveness of applying a torso servo to the human model.

Figure 4.1 shows a few steps from a typical balanced walk. The motion reaches a limit cycle and

continues to walk in a straight line for the full 60 steps of the trial.

Using the nominal open-loop

control alone results in only 5 steps before the human figure falls over.

The results clearly

demonstrate that with suitable parameter choices, active stabilization of bipedal locomotion cycles

is both possible and useful.

The motion resulting from the application of the described balance control varies significantly,

depending on the choice of RVs and other parameter values.

Many choices of parameter values