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, walked over ramps, 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. |