  In this paper is presented an approach to achieving on-line modification of
nominal biped gait without recomputing entire dynamics when steady motion is
performed. Straight, dynamically balanced walk was used as a nominal gait, and
applied modifications were speed-up and slow-down walk and turning left and
right. It is shown that the disturbances caused by these modifications
jeopardize dynamic stability, but they can be simply compensated to enable walk
continuation.
