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If the control authority of a running system is insufficient to reach a target state in a single step, i.e. if deadbeat control is not possible, then a stabilizing controller is faced with the decision on how to plan intermediate steps. In this work, we compare the performance of a simple greedy control policy (that computes deadbeat inputs and simply caps(More)
1 Motivation Legged passive dynamic systems that can exhibit a periodic gait that is inherently stable, provide highly desirable templates for the creation of robust legged robotic systems. However , even if a stable limit cycle exists, the system will be unable to recover if a disturbance is large enough. Hence it would be useful to know exactly which(More)
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