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We studied stilt-like dynamic walking by a 1-legged robot with a skate-like shoe for a foot and an overhead rotor to stabilize posture. The robot remains upright by rocking the foot left and right and rotating the overhead rotor. This paper describes control for stilt-like dynamic walking combining rocking and yaw angle control.

Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)