Cumincad : CUMINCAD Papers : Paper 6353:Symmetry in Running

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 10:24