Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

Title: en_US Dynamically Stable Legged Locomotion (September 1985-Septembers1989)
Creator: en_US Raibert, Marc H.; en_US Brown, H. Benjamin, Jr.; en_US Chepponis, Michael; en_US Koechling, Jeff; en_US Hodgins, Jessica K.; en_US Dustman, Diane; en_US Brennan, W. Kevin; en_US Barrett, David S.; en_US Thompson, Clay M.; en_US Hebert, John Daniell; en_US Lee, Woojin; en_US Borvansky, Lance
Date: 2004-10-20T19:58:14Z
Date Available: 2004-10-20T19:58:14Z
Date Issued: en_US 1989-09-01
Identifier: en_US AITR-1179
uri: http://hdl.handle.net/1721.1/6820
Abstract: en_US This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. 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.
Extent: en_US 203 p.; 26619423 bytes; 10211225 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1179
Subject: en_US robotics; en_US legged locomotion; en_US dynamic stability; en_US gymnastics; en_US slegged robots; en_US robot control