Square Root of Negative One


Posted in gait by cheng on February 4, 2010

When Dash robot was shown in CMU, I was amazed on how well the little one with just the physical design.

I read this from Brian Scaz’s note on Three Classes of Evolved
Controllers today ( and exclaim once more about MIT, after Karl Sims and Arthur Ganson)

• If sensors were enabled during evolution,
then reflexive pattern generators evolved
– Without sensors, these patterns fail
• If sensors were disabled during evolution,
central pattern generators evolved
– Generates pattern without sensory input
• If sensors were unreliable during evolution,
then mixed pattern generators evolved
– Worked better with sensors enabled
– Capable of operating on their own

Taxonomy of Fixed Points

in 3D – Lorenz Attractor

MIT Leglab

Posted in gait by cheng on December 16, 2009


Roll down to see

Corn Dog

“Besides demonstrating control of height and pitch, this video demonstrates the ability of Corn-Dog’s electric series-elastic actuators to efficiently and robustly absorb the shock energy of each footfall, without any additional elasticity in the leg mechanism.”


“a series-elastic actuated robot and a simulated model of the well-known Pixar Luxo lamp”