86

Here, the clue lies in the fact that the value of

space through brute force experimentation.

Q^d
=[.25,0] is around the centre of the range of nominal Q^dvalues for the straight forward walks

of Figure 4.3. This suggests that this value of Q^dmight be best for other similar PCGs.

One deficiency of the walks of Figure 5.7is that the smallest successful turning radius

is

approximately 2.5 meters.

While this is adequate for navigating the biped in a relatively open

environment, it is too large for motion in a constrained environment such as turning a corner in a

narrow corridor.

(a) Q^d= [.2,0]

(b) Q^d= [.3,0]

Figure 5.8- Hip plots for less successful turning perturbation trials over
a range of scaling factors.

Applying torso servoing during turning helps significantly, as indicated by Figure 5.9.

With

torso servoing to an angle of 5 degrees from vertical, the walk is slower and the circles can be