Abstract: In some practical control problems of essentially continuous systems, the goal is not to tightly track a trajectory in state space, but only some aspects of the state at various points along the trajectory, and possibly ...

Abstract: We have experimented with and simulated Steinkamp's passive-dynamic hopper. This hopper cannot stand up (it is statically unstable), yet it can hop the length of a 5 m 0.079 rad sloped ramp, with n≈100 hops. Because, for ...