Spring Loaded Inverted Pendulum

Key Control Strategies Emerge in Spring Loaded Inverted Pendulum Traversal of Slippery Terrain

Samuel Pfrommer June 20, 2017 0

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 […]

Optimizing Trajectories for the Spring Loaded Inverted Pendulum over Slippery Terrain

Samuel Pfrommer February 4, 2017 0

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 […]