1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

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

IMAGE Imgs/thesis.final.w6182.gif

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

[CONVERTED BY MYRMIDON]