WorldCat Identities

Raibert, Marc H.

Overview
Works: 13 works in 46 publications in 1 language and 489 library holdings
Roles: Author
Publication Timeline
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Most widely held works by Marc H Raibert
Legged robots that balance by Marc H Raibert( Book )

9 editions published between 1986 and 2000 in English and held by 433 WorldCat member libraries worldwide

Dynamically stable legged locomotion : second report to DARPA, October 1, 1981 - December 31, 1982 by Marc H Raibert( Book )

16 editions published between 1981 and 1989 in English and Undetermined and held by 20 WorldCat member libraries worldwide

This report documents recent progress in exploring active balance for dynamic legged systems. Balance in 3D can be achieved with a very simple control system. The control system has three separate parts, one that controls forward running velocity, one that controls body attitude, and one that controls hopping height. Experiments with a physical 3D machine that hops on just one leg show that it can hop in place, travel at a specified rate, follow simple paths, and maintain balance when disturbed. Top recorded running speed was 2.2 m/sec (4.8 mph). The 3D control algorithms are direct generalizations of those used earlier in 2D, with surprisingly little additional complication. Computer simulations of a simple multi-legged system suggest that many of the concepts that are useful in understanding locomotion with one leg can be used to understand locomotion with several legs. A planar model with two legs trots and bounds with the same three part control decomposition used for the one-legged systems. We have designed a four-legged running machine in order to experiment with balance in systems with more than one leg. The machine is arranged like a large dog, with narrow hips, and a long body. We have begun to study gait in terms of coupled oscillations. We have found that changes in the ratio of leg stiffness to hip stiffness change the pattern of rocking and swaying motions. For legged systems to be maneuverable, they must be able to traverse arbitrary paths in the horizontal plane
Motor control and learning by the State Space Model by Marc H Raibert( Book )

5 editions published between 1977 and 1981 in English and held by 10 WorldCat member libraries worldwide

Robotics in principle and practice : a tutorial by Marc H Raibert( Book )

2 editions published in 1981 in English and held by 7 WorldCat member libraries worldwide

Configuration space control by Berthold Horn( Book )

2 editions published in 1977 in English and held by 5 WorldCat member libraries worldwide

Complicated systems with nonlinear time-varying behavior are difficult to control using classical linear feedback methods applied separately to individual degrees of freedom. At the present, mechanical manipulators, for example, are limited in their rate of movement by the inability of traditional feedback systems to deal with time-varying inertia, torque coupling effects between links and Coriolis forces. Analysis of the dynamics of such systems, however, provides the basic information needed to achieve adequate control. Implementation of a control system based on such analysis is not straightforward, however, since impractical amounts of computation or memory may be called for. We propose a new method that balances the trade-off between computation and storage costs. The actuator torques required to move a manipulator along a trajectory are calculated using coefficients found in a look-up table indexed by the configuration of the manipulator. Feedback plays only an indirect role in correcting for small differences between the state of the actual device and that of a dynamic model
Control and learning by the state space model : experimental findings by Marc H Raibert( Book )

3 editions published in 1977 in English and held by 4 WorldCat member libraries worldwide

Machines that run by Marc H Raibert( Visual )

3 editions published in 1986 in English and held by 3 WorldCat member libraries worldwide

Documents the development of various dynamic legged systems
Walking machine : a video companion to volume 3, number 2 [Robotic research]( Visual )

1 edition published in 1984 in English and held by 2 WorldCat member libraries worldwide

A state space model for sensorimotor control and learning by Marc H Raibert( Book )

1 edition published in 1976 in Undetermined and held by 2 WorldCat member libraries worldwide

Animation of dynamic legged locomotion by Marc H Raibert( )

1 edition published in 1991 in English and held by 1 WorldCat member library worldwide

Special issue on legged locomotion( Book )

1 edition published in 1990 in English and held by 1 WorldCat member library worldwide

Adjusting step length for rough terrain locomotion by Jessica K Hodgins( )

1 edition published in 1991 in English and held by 1 WorldCat member library worldwide

Machines that walk by Marc H Raibert( )

1 edition published in 1983 in English and held by 0 WorldCat member libraries worldwide

 
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Audience Level
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  Kids General Special  
Audience level: 0.52 (from 0.40 for Animation ... to 1.00 for Machines t ...)

Alternative Names
Marc Raibert Amerikaans ingenieur

Marc Raibert ingeniero estadounidense

Марк Рейберт

Райберт, Марк

מארק רייברט

マーク・レイバート

Languages
English (44)