Milestones of the Leg Laboratory

1979

Ivan Sutherland provides slush funding so Raibert could build first hopping machine.

1980

ARPA decides to fund development of hopping machine.

1982

Planar one-legged machine hops in place, travels at a specified rate, keeps its balance when disturbed, and jumps over small obstacles.

1983

Three-dimensional one-legged machine runs and balances on an open floor. Simulations reveal passively stabilized bounding gait for quadruped-like model.

1984

Quadruped runs with trotting gait using generalization of one-leg algorithms. Data from cat and human found to exhibit symmetries like those used to control running machines.

1985

Planar biped runs with one- and two-legged gaits and changes between gaits.

1986

Planar biped does flips, aerials, and runs at 11.5 mph. Monopod runs using leg with rotary joint and leaf-spring foot.

1987

Quadruped runs with trotting, pacing, and bounding gaits.

1988

Planar biped uses selected footholds and climbs short stairway. Quadruped does rudimentary transitions between running gaits. Reentrant trajectories found for simulated passive dynamic running. Computer simulation shows running in zero-g by bouncing between two floors. Simple physical model of zero-g running demonstrated.

1989

Planar biped jumps through hoop and runs with top speed of 13.1 mph. Simulated planar biped gallops. Hoof added to monopod improves performance of leafspring foot. Three-dimensional biped does simple running.

1990

Planar biped robot walks, gallops, and changes between walking and running. Simulation of passive dynamic running with knees.

1991

Kangaroo-like robot (Uniroo), with articulated leg and tail, takes first steps (hops). Computer simulations of simplified kangaroos and ostriches.

1992

3D biped robot does somersault.

Uniroo runs at 1.8 m/s.

Simulatedquadruped control system adjusts automatically for variations in body mass and leg length.

1993

3D Biped and Uniroo appear with Sean Connery and Wesley Snipes in Rising Sun.

Passive stability achieved for layout somersault in laboratory "doll".

1994

Cockroach simulations runs using kinematic motion data from animal. Stable Groucho running in simulated spherical cockroach (Hexahopper).

Weight-shifting robot rocks with stability.

1995

Spring Turkey, a planar bipedal robot, walks at 0.5 m/s using Series Elastic Actuators and Virtual Model Control.

1996

Planar Quadruped runs with articulated spine.

Agile hexapod simulation walks over rough terrain while balancing a pendulum on its back.

1997

Spring Flamingo, a planar bipedal robot, walks utilizing feet and actuated ankles.

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