Key to animation clips:

    ol_fall.mov     An open loop motion falling.

    humngait.mov    A reasonably human-like walk.

    turning.mov     Turning.

    backword.mov    Walking backwards.

    ruffsmth.mov    The results of tweaking the open loop FSM of a walk
                    (by hand) to change a rough, mechanical walk into a
                    smoother one.

    headwind.mov    Walking into an increasing headwind (very simplistic
                    wind model).  The wind increases until the last few
                    steps of the clip where it remains constant.

    fastgait.mov    A double-time, stutter-stepping/running gait.

    roborun.mov     A very dynamic forward running motion for the robot.

    robocirc.mov    A "skidding" circular run for the robot.  The circular path
                    emerges as a result of particular parameter choices and
                    is not explicitly controlled.

All walks with the exception of the open loop continue without falling.