Robo4x - Video 7.5

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Robotics: Locomotion Engineering Videos
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Asymptotic
linearization
convergence
Engineering
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Koditschek, Daniel
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In this segment, we're going to be talking more generally and abstractly about the return map analysis and what it means, and why it might be useful and important to you. We use the Hooke's law stance model of the hopper, of Raibert's hopper, to show that the constant thrust strategy that Raibert shows to pump energy actually succeeds in achieving a unique locally asymptotically stable limit cycle.

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2017-10-02
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