Marc Raibert - Academia.edu (original) (raw)

Papers by Marc Raibert

Research paper thumbnail of Legged Robots That Balance

Research paper thumbnail of Running experiments with a planar biped

Research paper thumbnail of Very Shallow Water/Mine Counter Measures Mission Visualization

The oublic reporting burden for this collection of information is estimated to average 1 hour per... more The oublic reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources oatherino and ma ntainino the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection oTinfwmationinclud no suagestlo^rfor reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports ?0704 0?88M2"5 Jefferson 9 Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwrthstandmg any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

Research paper thumbnail of Trotting and bounding in a planar two-legged model

Research paper thumbnail of Look and Feel: Haptic Interaction for Biomedicine

Research paper thumbnail of A Model for Motor Control and Learning

Research paper thumbnail of Generation of random-dot stereogratings

Behav Res Methods, 1975

ABSTRACT

Research paper thumbnail of A VLSI Tactile Sensing Array Computer

Research paper thumbnail of Bigdog, the rough-terrain quaduped robot

Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. B... more Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures. Such robots will travel in outdoor terrain that is too steep,

Research paper thumbnail of Applications of realistic human entities using DI-Guy

Research paper thumbnail of 3-D balance in legged locomotion: modeling and simulation for the one-legged case

Proc of the Acm Siggraph Sigart Interdisciplinary Workshop on Motion Representation and Perception, 1986

Research paper thumbnail of Hopping in legged systems — Modeling and simulation for the two-dimensional one-legged case

Ieee Transactions on Systems Man and Cybernetics, May 1, 1984

Research paper thumbnail of Configuration space Control

Research paper thumbnail of Manipulator control using the configuration space method

Ind Robot, 1978

Page 1. Manipulator control using the configuration space method MHRaibert, California Institute ... more Page 1. Manipulator control using the configuration space method MHRaibert, California Institute of Technology and BKPHorn, Massachusetts Institute of Technology, USA SUMMARY The throughput of a manipulation process ...

Research paper thumbnail of Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

This report documents our work in exploring active balance for dynamic legged systems for the per... more This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged ...

Research paper thumbnail of Running on four legs as though they were one

IEEE Journal on Robotics and Automation, 1986

Research paper thumbnail of A systematic method of hybrid position/force control of a manipulator

COMPSAC 79. Proceedings. Computer Software and The IEEE Computer Society's Third International Applications Conference, 1979., 1979

Abstract The feasibility of applying robot manipulators to complex handling and assembly problems... more Abstract The feasibility of applying robot manipulators to complex handling and assembly problems in indus-try and space depends on the ability to control manipulators precisely, even when there are uncer-tainties and variations in the environment. This can be done by giving a ...

Research paper thumbnail of 3D balance in legged locomotion

ACM SIGGRAPH Computer Graphics, 1984

Research paper thumbnail of Control of hoof rolling in an articulated leg

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1991

Abstract An articulated leg with a hoof is studied in the context of a planar one-legged running ... more Abstract An articulated leg with a hoof is studied in the context of a planar one-legged running machine, the monopod. The monopod runs forward, backward, and in place at relatively low speed. One task for controlling this design is to keep the hoof from rolling. ...

Research paper thumbnail of Conditions for symmetric running in single- and double-support

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 1987

Even and odd functions of timesymmetric functionshave been used to simplify the control of nmning... more Even and odd functions of timesymmetric functionshave been used to simplify the control of nmning robots and have been observed in the body and leg motion of nmning anunals. This paper explores the relationship between symmetric motion of the body and symmetric use of the legs in three planar models. The algebra of symmetric functions is applied to the equations of motion to show that symmetric leg actuation is required for symmetric body motion in the single-support case, but not in the double-support case unless additional constraints are imposed.

Research paper thumbnail of Legged Robots That Balance

Research paper thumbnail of Running experiments with a planar biped

Research paper thumbnail of Very Shallow Water/Mine Counter Measures Mission Visualization

The oublic reporting burden for this collection of information is estimated to average 1 hour per... more The oublic reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources oatherino and ma ntainino the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection oTinfwmationinclud no suagestlo^rfor reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports ?0704 0?88M2"5 Jefferson 9 Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwrthstandmg any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

Research paper thumbnail of Trotting and bounding in a planar two-legged model

Research paper thumbnail of Look and Feel: Haptic Interaction for Biomedicine

Research paper thumbnail of A Model for Motor Control and Learning

Research paper thumbnail of Generation of random-dot stereogratings

Behav Res Methods, 1975

ABSTRACT

Research paper thumbnail of A VLSI Tactile Sensing Array Computer

Research paper thumbnail of Bigdog, the rough-terrain quaduped robot

Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. B... more Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures. Such robots will travel in outdoor terrain that is too steep,

Research paper thumbnail of Applications of realistic human entities using DI-Guy

Research paper thumbnail of 3-D balance in legged locomotion: modeling and simulation for the one-legged case

Proc of the Acm Siggraph Sigart Interdisciplinary Workshop on Motion Representation and Perception, 1986

Research paper thumbnail of Hopping in legged systems — Modeling and simulation for the two-dimensional one-legged case

Ieee Transactions on Systems Man and Cybernetics, May 1, 1984

Research paper thumbnail of Configuration space Control

Research paper thumbnail of Manipulator control using the configuration space method

Ind Robot, 1978

Page 1. Manipulator control using the configuration space method MHRaibert, California Institute ... more Page 1. Manipulator control using the configuration space method MHRaibert, California Institute of Technology and BKPHorn, Massachusetts Institute of Technology, USA SUMMARY The throughput of a manipulation process ...

Research paper thumbnail of Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

This report documents our work in exploring active balance for dynamic legged systems for the per... more This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged ...

Research paper thumbnail of Running on four legs as though they were one

IEEE Journal on Robotics and Automation, 1986

Research paper thumbnail of A systematic method of hybrid position/force control of a manipulator

COMPSAC 79. Proceedings. Computer Software and The IEEE Computer Society's Third International Applications Conference, 1979., 1979

Abstract The feasibility of applying robot manipulators to complex handling and assembly problems... more Abstract The feasibility of applying robot manipulators to complex handling and assembly problems in indus-try and space depends on the ability to control manipulators precisely, even when there are uncer-tainties and variations in the environment. This can be done by giving a ...

Research paper thumbnail of 3D balance in legged locomotion

ACM SIGGRAPH Computer Graphics, 1984

Research paper thumbnail of Control of hoof rolling in an articulated leg

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1991

Abstract An articulated leg with a hoof is studied in the context of a planar one-legged running ... more Abstract An articulated leg with a hoof is studied in the context of a planar one-legged running machine, the monopod. The monopod runs forward, backward, and in place at relatively low speed. One task for controlling this design is to keep the hoof from rolling. ...

Research paper thumbnail of Conditions for symmetric running in single- and double-support

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 1987

Even and odd functions of timesymmetric functionshave been used to simplify the control of nmning... more Even and odd functions of timesymmetric functionshave been used to simplify the control of nmning robots and have been observed in the body and leg motion of nmning anunals. This paper explores the relationship between symmetric motion of the body and symmetric use of the legs in three planar models. The algebra of symmetric functions is applied to the equations of motion to show that symmetric leg actuation is required for symmetric body motion in the single-support case, but not in the double-support case unless additional constraints are imposed.