Dynamically Stable Legged Locomotion.
Abstract
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
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 21, 1989
- Accession Number
- ADA309736
Entities
People
- H. B. Brown Jr.
- Jeff Koechling
- Jessica Hodgins
- Marc H. Raibert
- Michael Chepponis
Organizations
- Massachusetts Institute of Technology