This is a continuing series of posts from┬áthe Feedback Control of Dynamic Bipedal Robot Locomotion review that I am doing of Dr. Grizzle’s book.

This post is broken up into the following steps:

1. Review Lagrange’s method for obtaining the equations of motion for a planar mechanical system
2. Use Lagrange’s method to derive the equations of motion of the three-link robot in single support
3. Derive the impact model