Marc Raibert

It wasn't that hard to make it balanced once you get the physical machine to be working well enough and have enough control over the degrees of freedom. And then we very quickly, you know, we started out by having it floating on an inclined air table. And then that only gave us like six foot of travel.

It wasn't that hard to make it balanced once you get the physical machine to be working well enough and have enough control over the degrees of freedom. And then we very quickly, you know, we started out by having it floating on an inclined air table. And then that only gave us like six foot of travel.

So once it started working, we switched to a thing that could run around the room on another device. It's hard to explain these without you seeing them, but you probably know what I'm talking about, a planarizer. And then the next big step was to make it work in 3D, which that was really the scary part.

So once it started working, we switched to a thing that could run around the room on another device. It's hard to explain these without you seeing them, but you probably know what I'm talking about, a planarizer. And then the next big step was to make it work in 3D, which that was really the scary part.

So once it started working, we switched to a thing that could run around the room on another device. It's hard to explain these without you seeing them, but you probably know what I'm talking about, a planarizer. And then the next big step was to make it work in 3D, which that was really the scary part.

With these simple things, you know, people had inverted pendulums at the time for years and they could control them by driving a cart back and forth. But could you make it work in three dimensions while it's bouncing and all that? But it turned out, you know, not to be that hard to do, at least at the level of performance we achieved at the time.

With these simple things, you know, people had inverted pendulums at the time for years and they could control them by driving a cart back and forth. But could you make it work in three dimensions while it's bouncing and all that? But it turned out, you know, not to be that hard to do, at least at the level of performance we achieved at the time.

With these simple things, you know, people had inverted pendulums at the time for years and they could control them by driving a cart back and forth. But could you make it work in three dimensions while it's bouncing and all that? But it turned out, you know, not to be that hard to do, at least at the level of performance we achieved at the time.

Yes.

Yes.

Yes.

The simple story is that there's three things going on. There's something making it bounce. We had a system that was estimating how high the robot was off the ground. Using that, there's energy that can be in three places in a pogo stick. One is in the spring, one is in the altitude, and the other is in the velocity. And so when at the top of the hop, it's all in the height.

The simple story is that there's three things going on. There's something making it bounce. We had a system that was estimating how high the robot was off the ground. Using that, there's energy that can be in three places in a pogo stick. One is in the spring, one is in the altitude, and the other is in the velocity. And so when at the top of the hop, it's all in the height.

The simple story is that there's three things going on. There's something making it bounce. We had a system that was estimating how high the robot was off the ground. Using that, there's energy that can be in three places in a pogo stick. One is in the spring, one is in the altitude, and the other is in the velocity. And so when at the top of the hop, it's all in the height.

And so you could just measure how high you're going and thereby have an idea of a lot about the cycle, and you could decide whether to put more energy in or less. So that is one element. Then there's a part that you decide where to put the foot. And if you think when you're landing on the ground with respect to the center of mass, so if you think of a pole vaulter,

And so you could just measure how high you're going and thereby have an idea of a lot about the cycle, and you could decide whether to put more energy in or less. So that is one element. Then there's a part that you decide where to put the foot. And if you think when you're landing on the ground with respect to the center of mass, so if you think of a pole vaulter,

And so you could just measure how high you're going and thereby have an idea of a lot about the cycle, and you could decide whether to put more energy in or less. So that is one element. Then there's a part that you decide where to put the foot. And if you think when you're landing on the ground with respect to the center of mass, so if you think of a pole vaulter,

The key thing the pole vaulter has to do is get its body to the right place when the pole gets stuck. If they're too far forward, they kind of get thrown backwards. If they're too far back, they go over. And what they need to do is get it so that they go mostly up to get over the thing. And high jumpers is the same kind of thing.

The key thing the pole vaulter has to do is get its body to the right place when the pole gets stuck. If they're too far forward, they kind of get thrown backwards. If they're too far back, they go over. And what they need to do is get it so that they go mostly up to get over the thing. And high jumpers is the same kind of thing.

The key thing the pole vaulter has to do is get its body to the right place when the pole gets stuck. If they're too far forward, they kind of get thrown backwards. If they're too far back, they go over. And what they need to do is get it so that they go mostly up to get over the thing. And high jumpers is the same kind of thing.