MIT Leg Lab

The MIT Leg Lab was started by Marc Raibert, then later led by Gill Pratt and Hugh Here after Marc moved full-time to his company Boston Dynamics.

• http://www.ai.mit.edu/projects/leglab/people/people-main.html

• http://www.ai.mit.edu/projects/leglab/robots/robots.html

Running Without Active Control

• http://www.ai.mit.edu/projects/leglab/robots/robop/robop.html

  Quoted from the online source: “Robop is a self-stabilizing hopping robot built in 1996. It has no active electronic sensors to use for feedback. The robot is self-stabilizing in that when the leg is driven in a proper feed-forward periodic motion, the physics of the robot has inherent dynamic stability. It is stable in hopping height and pitch and entrains to the driving frequency.”

• http://www.ai.mit.edu/projects/leglab/simulations/control-free/control-free.html

• Ringrose, R. 1997. Self-Stabilizing Running. Proceedings of ICRA’97, Albuquerque. [19]