Legged Running - The Movies
These short clips illustrate the paper. Reduced in size for net transmission.
The full version, with titles, music, and effects. Recommended only for sites with
substantial network bandwith.
How the movies were made
These simulations were all run with Working Model 2.0, from
Knowledge Revolution, Inc..
They are 2D physical simulations with considerable realism.
- All the moving parts have
mass, inertia, and angular momentum.
All collisions are detected and computed with
appropriate friction and elasticity.
The (brown) ground has a coefficient of friction (0.80) appropriate to real dirt.
Slipping and falling is a very real possibility.
The (white) ice has a coefficient of friction of 0.05,
yet the hopper really is balancing
on that slippery surface.
Our controller has control over the forces exerted by the balance and hop actuators
of the hopper, and nothing else.
This keeps us honest.
Animats home page
November 21, 1995