Abstract
Symmetry can simplify the control of dynamic legged systems. In this paper, the symmetries studied describe motion of the body and legs in terms of even and oddfunctions of time. A single set of equations describes symmetric running for systems with any number of legs and for a wide range of gaits. Techniques based on symmetry have been used in laboratory experiments to control machines that run on one, two, andfour legs. In addition to simplifying the control of legged machines, symmetry may help us to understand legged locomotion in animals. Datafrom a cat trotting and galloping on a treadmill andfrom a human running on a track conform reasonably well to the predicted symmetries.
Cite
CITATION STYLE
Raibert, M. H. (1986). Running With Symmetry. In Autonomous Robot Vehicles (pp. 45–61). Springer New York. https://doi.org/10.1007/978-1-4613-8997-2_5
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