Intro
SDM
Design
Dynamics
Conclusions
Biological Inspiration
•Control heirarchy
–Passive component
–Active component
Full and Koditschek, 1999
Mechanical
System
(muscles, limbs)
Environment
Mechanical
Feedback
(Preflexes)
Sensory
Feedback
(Reflexes)
Neural System
(CPG)
Feedforward
Motor
Pattern
Passive Dynamic
Self-Stabilization
Locomotion