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Hopper Control

Tasks

A. Euler-Lagrange

Please refer to this

B. Hopper Control

  • Learn $\texttt{Raibert Control}$ for single legged hopper.

    $\phi = sin^{-1}(\frac{\dot{x_0}\pi}{2l} \sqrt{\frac{m}{k}}) + k_p \cdot (\dot{x_0} - \dot{x_d})$

  • Add the control law with Raibert Control.

  • Observe the dynamics via integration (RK4 or Euler forward).