Dynamically Stable Legged Locomotion.

摘要

This report documents our study of active balance in 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: Keywords: Planar biped, Rough terrain, Top running speed, Biped gymnastics, Trot, Pace, Bound, Articulated legs, Passive dynamic running. (kr)