Ton has M_0 and S_0 which are the moments needed to make the biped model walk and the resulting angles and rates (i.e. the "open loop" controls and trajectories).
I have identified M* and K. The controller is:
M = M_0 + K (S_0 - S) = M* - K S
So with Ton's solution and my K, we can try out the controller and see if it helps the simulation walk further.
Ton has M_0 and S_0 which are the moments needed to make the biped model walk and the resulting angles and rates (i.e. the "open loop" controls and trajectories).
I have identified M* and K. The controller is:
M = M_0 + K (S_0 - S) = M* - K S
So with Ton's solution and my K, we can try out the controller and see if it helps the simulation walk further.