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authors Raibert, Marc H.
year 1986
title Symmetry in Running
source Science. March, 1986. vol. 231: pp. 1292-1294 : ill. includes bibliography
summary Symmetry plays a key role in simplifying the control of legged robots and in giving them the ability to run and balance. The symmetries studied describe motion of the body and legs in terms of even and odd functions of time. A legged system running with these symmetries travels with a fixed forward speed and a stable upright posture. The symmetries used for controlling legged robots may help in elucidating the legged behavior of animals. Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions
keywords symmetry, robotics, animation
series CADline
references Content-type: text/plain
last changed 2003/06/02 08:24
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