Unfortunately no, I attended a tech luncheon at the University of
Michigan.  The  presentation was done by a professor and graduate
student who were working on exactly this with a french university.  I
don't even recall walking away with any documentation on it...

Ah nevermind.  I spent a few minutes at the engineering site and found it:
http://www.eecs.umich.edu/~ewesterv/biped/

-Adam

Brandon Fosdick wrote:

>>Example:
>>Up until recently two legged walking robots have all been built by trial
>>and error and/or by keeping the center of gravity above points touching
>>the ground.  The problem with doing it this way is that the algorithms
>>are specific to the hardware/model they are using and are not
>>generalized for other models.  When they do get the algorithm working on
>>another piece of hardware they have to change hundreds or thousands of
>>variables and re-tweak the algorithm.  Researchers have finally made a
>>simple model, including equations to describe the model, that can walk
>>and run in a dynamic fashion - with its center of gravity somewhere
>>beyond its feet.  This model can be described in just a few variables,
>>and adapting it to a different piece of hardware is a matter of changing
>>only those few varaibles, not the algorithm itself.
>>
>>
>
>Can yo provide any more info on this? I've been interested in walking stuff for
>a while, but haven't been able to find any good papers on it. The best thing
>I've seen so far is the trodon at MIT's leg lab, but they don't appear to be
>talking about it.
>
>
>
>

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