WHY WALK AND RUN: ENERGETIC COSTS AND ENERGETIC OPTIMALITY IN SIMPLE MECHANICS-BASED MODELS OF A BIPEDAL
Manoj Srinivasan · 2006
(a cubic fitdoes not do any better). The accuracy of the extrapolations seemto be consistent with these mean square errors. . . . . . . . . . . . 663.2 Convergence of the smoothed optimal control problem inN. OptimalvaluesforasequenceofNforV=0.5, D=0.5areplot-tedintermsoftheirdifferencesfromtheaccuratecollisionalwalkingcost. Each of these numbers were obtained by solving a sequence ofǫ-smoothed optimal control problems (with the smoothing functionf