The prototype
is 1.425 m tall and weighs 36 kg; it's geometry is detailed here.
Rabbit was built with the following criteria in mind:
- Be representative of the fundamental problems raised
in the Scientific Objectives ;
- Simplicity and robustness: The mechanism has few degrees
of freedom (five or seven depending on the phase of motion),
and can stand the impacts associated with phase transitions
;
- Easily reproduced or copied ;
- Availability to all participants wishing to experiment
with different methods of control design; and
- Ability to run as well as walk.
