We have built a series of legged robots for
experiments on active balance in dynamic legged locomotion. Taken collectively, these robots have traversed simple paths, run with several different gaits (hop, run, trot, pace, bound), run fast (13 mph), jumped over obstacles, controlled step length, climbed a simplified stairway, and performed rudimentary gymnastic maneuvers. Although no one robot performed all these tasks, the machines all use a common set of balance and control principles. |
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