Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
Desired stance leg angle ϕ(x, y) over time (left) and over COP (center) from simulation using linearizing controller (12). Right: Actual and desired trajectories of relative ankle angle θank (zeroed at heel strike for the sake of comparison) from passive walking, impedance control (PD), and output linearization (linz) simulations. Note that the small jumps in the desired trajectories are caused by numerical imprecision when switching contact constraints.
