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Compass gait on a steep incline

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Uploaded by on Jan 11, 2007

phi=0.2. the bouncing red ball under the stance leg is the actuation; naturally, it is negative most of the time, as it is resisting the slope. The diagrams on the left show the state-space trajectory of the swing leg (above) and stance leg (below).

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Howto & Style

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  • this demo is cool. May I have the matlab codes?

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