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From: smjeff@lerc05.lerc.nasa.gov (Jeff Miller)
Subject: Re: Walking robots
Message-ID: <1992Dec3.193626.9074@eagle.lerc.nasa.gov>
Keywords: robots
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References: <d2bohre.723249063@dtek.chalmers.se> <Byp119.2u3.2@cs.cmu.edu>
Date: Thu, 3 Dec 1992 19:36:26 GMT
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In article <Byp119.2u3.2@cs.cmu.edu> murthy+@cs.cmu.edu (Sesh Murthy) writes:
>Look for Marc Raibert's book on legged locomotion.  (I do not have the 
>book in front of me now so I cannot give you the exact title.)
>
>Contrary to your conjecture, what I learned from working with legged robots
>for a few years (in Raibert's lab) is that
>
>IT IS SIMPLER TO HOP OR WALK THAN TO BALANCE AN INVERTED PENDULUM.
>
Sesh,  I don't agree.

Contrary to your conjecture, what I learned from working with legged robots
for a few years (in Raibert's lab) is that

HOPPING AND RUNNING IS MUCH MORE DIFFICULT THAN BALANCING AN INVERTED
PENDULUM.  Walking (statically stable) is simpler in some aspects than
balancing an inverted pendulum.

>The details are in Marc's book.
Agreed

-- 
Jeffrey H. Miller     smjeff@lerc05.lerc.nasa.gov
Sverdrup Technology, NASA Lewis Research Center Group, Cleveland, Ohio

favorite book title: Attack of the Deranged Mutant Killer Monster Snow Goons

