-- JonathanKarpick - 08 Mar 2008

Non-collocated control of a potential climbing robot. (Really, an "Acrobot"). There is an actuator at the hip, but not at the ankle. I've used non-collocated partial feedback linearization, and commanded the leg to the vertical position (ankle angle = 0 in my coords).

The video (at 1/4 speed):

IC -> Middle point -> Desired (but it continues to fall from there...)
noncollocated_IC.png -> noncollocated_mid.png -> noncollocated_tf.png

The hip torques:

The wall reaction forces (if only I could limit the peaks...):

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