Robotics: Locomotion Engineering Videos

Robo4x - Video 10.4a

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Date of this Version

Fall 10-2-2017

Description

Remember that we had developed a model for the return map of the fore-aft
degree of freedom of this spring loaded inverted pendulum. And we had posited given a closed loop and return map, the imposition of a feedback law. And we would thereby close the loop, leading to a closed loop discreet dynamical system governed by the SLIP return map. The question now is what's the consequence of that feedback law? What sorts of feedback laws will have what sorts of fixed points, equilibrium states?

Keywords

SLIP, dynamics, equilibrium

Disciplines

Engineering

Creative Commons License

Creative Commons Attribution-Noncommercial 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial 4.0 License

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Robo4x - Video 10.4a

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