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find and read everything you can by Marc Raibert. Marc founded the MIT Leg Lab, before he went off to Boston Dynamics, and is one of the world's leading experts in bipedal legged locomotion. Everyone else is just now catching up on the work he did 20 years ago.
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Don't forget Asimo. That project was started in 1986 and only now do they have a robot that walks and resembles a human. http://robots.net/robomenu/986001058.html http://www.walkingrobots.com/
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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