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[Martin C. Martin]

Ian Munro wrote:
> 
> Mattias Wrote:
> 
> Marc Raibert (sorry, mispelt his name) wrote a book called "legged robots
> that balance" and was responsible for the major work at the MIT leg lab.
> 
> http://www.ai.mit.edu/projects/leglab/
> (lots of interesting stuff at the site)

You might also be interested in:

http://www-2.cs.cmu.edu/~garthz/research/bowleg/bowleg.html

And in particular, the paper "Control of a Bow Leg Hopping Robot."  It
works similarly to your description, calculating control parameters only
once during flight.  Stance, on the other hand, is completely passive.

- Martin