Researchers at the Leg Laboratory have built a series of legged robots, including one-legged hoppers, bipedal runners, bipedal walkers, a quadruped, and two kangaroo-like robots. Taken collectively, these machines traverse simple paths, run with several different gaits, run fast (13 mph), walk over flat ground and rolling terrain, jump over obstacles, climb a simplified stairway, and perform rudimentary gymnastic maneuvers. Although no one machine performs all these tasks, many of the machines use a common set of balance and control principles. The Leg Laboratory also uses physics-based computer simulations to study legged locomotion and to build automated computer characters.
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