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

53

IMAGE Imgs/thesis.final.w688.gif

IMAGE Imgs/thesis.final.w689.gif

ki


ki

(a)

(b)

IMAGE Imgs/thesis.final.w690.gif

ki

(c)


sample point

IMAGE Imgs/thesis.final.w691.gif

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


IMAGE Imgs/thesis.final.w627.gif


2rocking back and forth.

[CONVERTED BY MYRMIDON]