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This document summarizes an adaptive control method for a spring-mass hopper model that can estimate and adjust unknown or changing dynamic parameters like spring and damping constants. The method uses an online parameter correction each step to eliminate tracking errors. Simulations show the method can successfully identify time-varying parameters or serve as an adaptive controller. It differs from other adaptive locomotion control work by incorporating accurate mathematical models when available, rather t

Author

Yessica Rosas

Language

EN