MAE 4182
Lecture 02Laplace Transform

Frame 1 of 30: The push is over. Why is the robot still moving?. Reveal 0 of 2.

Opening challenge · MIT Cheetah 3

MIT official video · connection to the course notes

Cold open · predict before touching the hardware

The push is over. Why is the robot still moving?

MIT Cheetah 3 is walking when a short lateral disturbance arrives. At the instant contact ends, what determines the recovery that follows?
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Ask for a show of hands: A, B, or C?

MIT official source ↗We use a local LTI model of recovery near one operating behavior; the complete robot remains nonlinear and time varying.