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Self-stabilizing walking apparatus that is capable of being reprogrammed or puppeteered

  • US 6,462,498 B1
  • Filed: 05/08/2001
  • Issued: 10/08/2002
  • Est. Priority Date: 05/09/2000
  • Status: Expired due to Fees
First Claim
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1. A walking apparatus that is capable of achieving self-stabilization comprising:

  • at least one motor within the apparatus having a drive shaft extending therefrom;

    two front legs and a pair of weights attached to said front legs whereby the center of balance of said apparatus is moved toward the front of said apparatus;

    two rear legs;

    at least one encoder that monitors the position of at least part of one leg; and

    an information processor that is in communication with said encoder thereby ensuring that the center of balance of said apparatus does not move outside the stability envelope of said apparatus.

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