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Passive Walker

Tasks

A. Forward Kinematics

  • Robotics 101 revision at here, where a robot arm is written.

B. Euler-Lagrange

Please refer to this.

C. Bounce

Please refer to this.

D. Passive Walker

  • Derive it with $\texttt{sympy}$ with this.
  • Learn hybrid system and how to integrate it with $\texttt{FSM}$.
  • Applied it on a passive walker.
  • Observe the dynamics via integration (RK4 or Euler forward).
  • Solve the fixed point for the Poincare map here.