Newsgroups: comp.robotics
Path: brunix!uunet!decwrl!netcomsv!mork!nagle
From: nagle@netcom.com (John Nagle)
Subject: Re: Need info on four legged robots
Message-ID: <35amg1#.nagle@netcom.com>
Date: Sat, 18 Jul 92 19:42:55 GMT
Organization: Netcom - Online Communication Services  (408 241-9760 guest) 
Distribution: usa
References: <19182@plains.NoDak.edu> <19077@ector.cs.purdue.edu> <1992Jul16.212647.11722@eagle.lerc.nasa.gov> <19089@ector.cs.purdue.edu>
Lines: 11

bouma@cs.purdue.EDU (William J. Bouma) writes:
>|> >  read, but I object to the deceptive (too general) title.  He should have
>|> >  called it "Legged Robots that Hop"!

        Read the book.  Raibert made a major breakthrough in discovering
that once you have one-leg balanced hopping working, multilegged gaits
just require minor modifications to the hopping controller.  Previous
work on locomotion tended to concentrate on gaits.  But as it turns out,
gaits are a consequence of balance control, not the other way round.

					John Nagle
