88

f

(TOP VIEW)

Figure 5.10 - Point-following. Vector f indicates the
facing direction of the biped. Vector t
indicates the desired direction. f and t
are both in the horizontal plane.

20

15

10

5

0

20

15

10

5

0

-20

-15

-10

(a)

-5

0

-20

-15

-10

(b)

-5

0

Figure 5.11 - Path following.
(a) without torso servoing
(b) with torso servoing

With this turning control, a simple form of path control can be achieved by following a suitable set

of target points in sequence.

Each time the biped approaches a target point to within a minimal

distance, the next point in sequence becomes the current target point.

Figure 5.11shows the

results of applying this algorithm to a set of target points, both with and without torso servoing.

In both cases, the proportional constant, k_q, is chosen to give the minimum radius turn when the

facing direction of the biped is 45 degrees from the target point and has a maximum value at that