Hybrid control

MIT 6.8210: Underactuated Robotics

Spring 2023, Lecture 16

Follow live at https://slides.com/d/rh9zvog/live
(or later at https://slides.com/russtedrake/spring23-lec16)

Image credit: Boston Dynamics

from D. Koditschek, R. Full, and M. Buehler, Mechanical aspects of legged locomotion control,

Arthropod Structure and Development, 33 (2004), pp. 251–272.

courtesy of Devin Jindrich

https://www.cs.cmu.edu/~hgeyer/Research_Principles.html