53

k_i

k_i

(a)

(b)

k_i

sample point

Figure 3.24 - Sampling point pitfalls in discrete model construction
(a) sample scalings non-symmetric
(b) sample scalings too small
(c) sample scalings too large

3. 8

Torso Servoing

While it is preferable for animation to have general control solutions, more specific control

solutions are sometimes useful or necessary.

The control described in previous sections can be

used to generate successful walking gaits.

However, the resulting walks exhibit a characteristic

bobbing²of the torso in the sagittal plane. This is due, in part, to the choice of simple stance hip

2_{rocking back and forth.}