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66 RVs and stance hip control perturbations with each of the three sampling strategies (F-L, L-F and SP). The trials explore the useful range of the forward component of Qd |
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The lateral component of Qdis fixed at 0.0 for all trials. Torso servoing is not applied. are a maximum of 60 steps long. |
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A few of observations can be made based on Figure 4.9and on the corresponding animated motion:
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generated using up-vector RVs. |
As with the up-vector results, there is a "nominal |
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range" of Qdvalues which produce the most successful walks. |
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sampling |
strategies |
give |
significantly |
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COM walks demonstrate a tendency of the biped to twist sideways about its own |
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vertical axis. |
This tendency is most prevalent when using the F-L sampling strategy |
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and is almost entirely absent for the SP sampling strategy. |