The Planar Biped is a two-legged planar running machine, which was developed and built by MIT. It was created specifically to evaluate the control of bipedal running using single-legged algorithms.
This running machine has two telescopic legs, which are attached to the body with pivot joints at its hips. A hydraulic actuator in both legs functions in series through the use of a pneumatic spring. With this combination, the length of the leg changes allowing one of the legs to follow its long axis.
Since there is only one active leg, the one-legged algorithms can be employed to direct the planar biped’s actions. The algorithms deal mainly with keeping the hopping height, forward thrust when running, and the way the body should be positioned.
With the use of the Planar Biped, researchers at MIT were able to intensively study movements on rough topography, running at high speed, and even gymnastic movements.
Features:
Massachusetts Inst. of Tech. (MIT)
