Accession Number : ADA309736

Title :   Dynamically Stable Legged Locomotion.

Descriptive Note : Final rept. Sep 85-Aug 88,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Raibert, Marc H. ; Brown, H. B., Jr. ; Chepponis, Michael ; Koechling, Jeff ; Hodgins, Jessica

PDF Url : ADA309736

Report Date : 21 JUN 1989

Pagination or Media Count : 216

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

Descriptors :   *ARTIFICIAL INTELLIGENCE, *ANIMALS, *LOCOMOTION, VELOCITY, CONTROL, MECHANICAL PROPERTIES, TERRAIN, BALANCE, FOCUSING, ROUGHNESS, LEGS.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE