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112
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Base Pose Control Graph- A pose control graph used to provide the basic cyclic control
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for a desired periodic motion.
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Regulation Variable (RV)- A scalar function of system state chosen to represent a key
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feature in the overall motion of an articulated figure.
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A set of regulation variables
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essentially form a reduced order model of the system.
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Regulation variables are
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controlled in order to achieve some desired change in the overall motion for a figure.
Qdis used to denote the desired (or target) value of an RV. Q*represents the final
controlled value of the RV.
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Linear Parametric Perturbation (LPP)- A fixed PCG multiplied by a scaling factor and
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added to a base PCG.
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LPPs are used to achieve desired changes in the regulation
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variables or variations in the overall motion of the base PCG.
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Superposition (SP) sampling- A sampling strategy for constructing a model to balance
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one step of a walk.
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Using SP sampling, the biped is balanced in the sagittal and
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coronal planes independently and then the results are combined.
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Forward-then-lateral (F-L) sampling- A strategy for constructing a model to balance
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one step of a walk.
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Using F-L sampling, the biped is first balanced in the sagittal
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plane and then the results of this operation are used to balance the biped in the
coronal plane.
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Lateral-then-forward (L-F) sampling- A strategy for constructing a model to balance
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one step of a walk. L-F sampling is similar to F-L sampling except that the biped is
balanced first in the coronal plane and then in the sagittal plane.
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)