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79

IMAGE Imgs/thesis.final.w6159.gif

(a)

(b)

Figure 5.1- Speed control using composite
dRV and stride time of 1.0
seconds. Only select Qvalues are shown on hip plot. Other
paths are similar in direction with varying lengths. The biped
initially faces left (i.e. in the -x direction).


The resulting walks exhibit a number of desirable characteristics:

  1. Applying speed control results in a wider nominal range for Qd
    .
  1. The use of a composite RV and the desired lateral speed of 0 are both effective in

eliminating a number of the artifacts in earlier walks.

The walks generally follow a

straight line for a large range of Qd
, with consistent step length from one step to

another and no tightrope walking or leg crossing.

  1. A wide range of speeds is possible, with linear control of the steady-state speed about

the chosen nominal speed.

within around 8 steps.

All walks begin from a stop and reach steady-state speed

  1. A very slow walk, almost in place, is possible (Qbiasd= 0.1).

outside the linear range of control.

Note that this walk is

  1. Acceleration and deceleration is possible as shown in Figure 5.4.

[CONVERTED BY MYRMIDON]