During this course, students will learn about
- Basic mathematical tools for modeling mechanical systems, including Newton-Euler and Lagrange methods for obtaining equations of motion
- Models for wheeled locomotion, including kinematic and dynamic versions
- Kinematic models of legged locomotion, position control and kinematic stability
- Zero-Moment Point based methods for legged locomotion
- Dynamic models of legged locomotion, limit cycles, Poincare sections, return maps and stability
- Passive Dynamic Walking
- Spring-Mass models for running
- Alternative modes of locomotion and associated models