This report documents our progress over the past three years in exploring active balance for dynamic legged systems. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of animal locomotion. In this report we focus on the control of biped locomotion, the use of terrain footholds, running at high speed, biped gymnastics, symmetry in running, and the mechanical design of articulated legs.


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    Title :

    Dynamically Stable Legged Locomotion


    Contributors:
    M. H. Raibert (author) / H. B. Brown (author) / M. Chepponis (author) / J. Koechling (author) / J. Hodgins (author)

    Publication date :

    1989


    Size :

    216 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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