Proceedings of the 4th international symposium on Robotics Research, pp. 5-14, 1988.
In this paper we examine the nature of a gymnastic maneu ver, the forward flip, and describe how a planar biped run ning machine executes it. To perform a flip the machine runs forward, thrusts with both legs to jump while pitching the body forward, shortens the legs to tuck once airborne, untucks in time to land on the feet, and then con...More
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