Hopping robot code

Zhenyang Chen

2021-11-03

log

1. code structure is based on hw5, some derivation is borrowed from hw4

2. Finish derive_everything.m, derive system dynamic. Variables are shown in this figure:

   3. Modify corresponding parameters.m to generate parameters.

   4. Modify run-simulation.m: skip the optimization part and turn off some plots for now

   5. Add new animate.m: show the animation of the robot

   6. Modify hybrid_simulation.m: finish continuous + discrete dynamic. We can change the input in control law function to conduct different test. Currently no control_law is used (we can modify them after the simulation works).

   bug:

   run run_simulation.m, there are numerical issues when calculating matrix A and b in hybrid_simulation. The problem is probably from the bugs in derive_everything.m.