Dynamically Stable Legged Locomotion

Abstract

This report documents our study of active balance in 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: Keywords: Planar biped, Rough terrain, Top running speed, Biped gymnastics, Trot, Pace, Bound, Articulated legs, Passive dynamic running.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1989
Accession Number
ADA225713

Entities

People

  • H. B. Brown Jr.
  • Jeff Koechling
  • Jessica K. Hodgins
  • Marc H. Raibert
  • Michael Chepponis

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Angular Momentum
  • Artificial Intelligence
  • Computational Science
  • Computer Programs
  • Computer Simulations
  • Computers
  • Construction
  • Control Systems
  • Energy
  • Energy Storage
  • Joints (Anatomy)
  • Measurement
  • Mechanical Engineering
  • Mechanics
  • Pulsed Power
  • Three Dimensional

Fields of Study

  • Education

Readers

  • Robotics and Automation.