k·[!]Pis a linearly parameterized control perturbation where the parameter kis a scaling factorof

[!]P. The PCGs B, [!]Pand the overall control, C, are each similar in form to Figure 2.2 (b). The

addition operation denotes the addition of the corresponding desired joint angle and hold time

parameters of two PCG pose tables of equal dimensions.

Scalar multiplication is applied to each

desired joint angle and hold-time parameter of a PCG pose table.

Sensor-based transitions in a

perturbed PCG remain unaltered. As an example, an LPP could be used to turn a creature's head

to look in a particular direction or to say "no".

To accomplish this, [!]Pmight be chosen to vary

only the desired angle of the neck and kwould be chosen to turn the head to the right or left by the

desired amount.

A variety of LPPs will be used in Chapters 3 and 5 as the mechanism to provide our biped with

basic balance control and additional gait variations.

Figure 2.6 - Overview of the simulation process

2. 4

The Animation System

Figure 2.6 provides an overview of the process of generating a physically-based animation with

our system, beginning with a creature definition and a control script.

The creature definition is

used by a dynamics compiler to generate code which solves and integrates the equations of