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sachinumans / SAUmansThesis

All code written for the Systems&Control Master of Science thesis of Sachin Umans
MIT License
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Model addition: Add (jerk) dampner to CoM #35

Open sachinumans opened 1 year ago

sachinumans commented 1 year ago

So as a spring force is linear to displacement (0th derivative), and a dampner force is linear to the velocity (1st derivative), add a thing where its force is linear to the acceleration (2th derivative).

sachinumans commented 11 months ago

Also I noticed that the vertical upward acceleration in terminal stance is not captured in the model, maybe this could be captured by a velocity dampner in only the Bz direction?