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Someone explain hybrid zero dynamics in simple english?

  1. Nov 27, 2012 #1
    1. The problem statement, all variables and given/known data

    I'm working on a bipedal walker and as part of initial research I found hybrid zero dynamics as a solution to help detect terrain. The current method used is combining data from accelerometer and gyroscope and using Kalman Filter to find angle in x,y,z planes. Unfortunately most of the material about hybrid zero dynamics is beyond my level, so can someone explain it to me in simple english? Thanks

    I'm not sure where else to post this, its not really problem sum or sort -- just need someone to explain or guide
  2. jcsd
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