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

95

5. 6

Conclusions

In this chapter, we have shown that parameterized PCG perturbations can be used to generate a

variety of interesting gaits simply by modifying the underlying open loop control.

Smooth

transitions between motions were demonstrated and an example of the use of a simple feedback

mechanism to increase creature autonomy was given.

An approach to controlling the speed of a

walk without requiring modification of the underlying base PCG was also provided.

The basic

balance control introduced in Chapter 3 required no modification to be used successfully with

variable motions.

[CONVERTED BY MYRMIDON]