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this is much more difficult to do than meets the eye (assuming he did real-time calculations and not some pre-cooked timed gait).
see this link for the maths involved:
http://humanoids.dem.ist.utl.pt/
Commented Dec 27, 2009 on Horizontal bar robot gymnast in training (Video) at Robots Dreams
Horizontal bar robot gymnast in training (Video)
Hinamitetu’s robot gymnast is getting better and better, but still needs a lot of work on its horizontal bar dismount before the Robot Olympics qualifying meets start in the Spring.
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