The ability to balance actively is a key ingredient in the mobility of a device that
Chapter 0, Problem E11.1(choose chapter or problem)
The ability to balance actively is a key ingredient in the mobility of a device that hops and runs on one springy leg, as shown in Figure Ell.l [8]. The control of the attitude of the device uses a gyroscope and a feedback such that u = Kx, where K -k 0 0 -2k and where x(f) = Ax(0 + Bu(t) Compass 0 1 -1 0 and B = I. Two-axis gyroscope Servovalve Hydraulic actuator and position/velocity sensors Determine a value for k so that the response of each hop is critically damped
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