Tag: Spring Loaded Inverted Pendulum
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Key Control Strategies Emerge in Spring Loaded Inverted Pendulum Traversal of Slippery Terrain
Last week I returned from the Dynamic Walking 2017 conference, where I had a poster and five minute talk on some of the numerical trajectory optimization work I’ve been doing for spring loaded inverted pendulums. More specifically, I was trying to determine what kinds of strategies the optimizer discovers when recovering from landing unexpectedly on…
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Optimizing Trajectories for the Spring Loaded Inverted Pendulum over Slippery Terrain
Previously, I’ve written short introductions to numerical trajectory optimization here and here—if you’re unfamiliar with the basics, I recommend you check those out first. This write up expands upon a section of my research paper (which I hope to finish soon) and is meant to be a walkthrough of how to apply numerical trajectory optimization to real-world scenarios. The Problem…