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Our investigation into the generation of minimum energy symmetric, periodic gaits gathers together several different research areas in the modeling and control of complex, nonlinear systems. Our ability to solve this problem has relied upon the use of recursive, symbolic multibody algorithms coupled with powerful numerical optimal control software. Some of the more interesting conclusions that can be made from our experiments are:

Michael W. Hardt
Mon Oct 11 17:19:43 MET DST 1999