92

transition
info

0 0 0 0 0 0

DOF:

state

1

0
0
0
0
0
0

2

0
0
0
0
0
0

3:03:13:2

4

20
20
20
20
20
20

5:05:16:06:16:2

7

20
20
20
20
20
20

8:08:1

9

15
15
15
15
15
15

10

-30
-30
-30
-30
-30
-30

11

15
15
15
15
15
15

12

-30
-30
-30
-30
-30
-30

S1
S2
S3
S4
S5
S6

0
0
0
0
0
0

-20
-20
-20
-20
-20
-20

0
0
0
0
0
0

-20
-20
-20
-20
-20
-20

0
0
0
0
0
0

0
0
0
0
0
0

-20
-20
-20
-20
-20
-20

0
0
0
0
0
0

-20
-20
-20
-20
-20
-20

0
0
0
0
0
0

Figure 5.15 - Bent-knee perturbation for a human model

Figure 5.16 - Bent-knee walking with a parameter scaling of 1.0

Figure 5.16shows a sequence of steps from a bent-knee

walk

generated

by

applying

the

perturbation to a basic forward walk.

The transition from the normal walk to the fully perturbed

(scaling parameter = 1.0) walk is performed smoothly over a series of 18 steps.

Qualitatively

speaking, the motion is lively and "bouncy".

The model spends most of each stance phase

standing on its heel due to a raised stance toe (-20 degrees ankle pitch).

5. 5. 2

Bent-Over Walking

A bent-walking perturbation shown in Figure 5.17 provides yet another walking configuration.

It

consists of a relatively small bend at the waist and a larger bend in the torso, generating a slightly

hunched over, forward leaning walk.

transition
info

0 0 0 0 0 0

DOF:

state

1

0
0
0
0
0
0

2

0
0
0
0
0
0

3:03:13:2

4

0
0
0
0
0
0

5:05:16:06:16:2

7

0
0
0
0
0
0

8:08:1

9

-52
-52
-52
-42
-33
-33

10

-5
-5
-5
-5
-5
-2

11

-42
-33
-33
-52
-52
-52

12

-5
-5
2
-5
-5
-5

13

15
15
15
15
15
15

S1
S2
S3
S4
S5
S6

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

Figure 5.17 - Bent-over walking perturbation