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

88

IMAGE Imgs/thesis.final.w6176.gif

f

(TOP VIEW)

Figure 5.10 - Point-following. Vector f indicates the
facing direction of the biped. Vector t
indicates the desired direction. f and t
are both in the horizontal plane.

IMAGE Imgs/thesis.final.w6177.gif

IMAGE Imgs/thesis.final.w6178.gif

20


15


10


5


0

20


15


10


5


0

-20

-15

-10

(a)

-5

0

-20

-15

-10

(b)

-5

0

Figure 5.11 - Path following.
(a) without torso servoing
(b) with torso servoing

With this turning control, a simple form of path control can be achieved by following a suitable set

of target points in sequence.

Each time the biped approaches a target point to within a minimal

distance, the next point in sequence becomes the current target point.

Figure 5.11shows the

results of applying this algorithm to a set of target points, both with and without torso servoing.

In both cases, the proportional constant, kq, is chosen to give the minimum radius turn when the

facing direction of the biped is 45 degrees from the target point and has a maximum value at that

[CONVERTED BY MYRMIDON]