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@cbfinn Thanks for your time.
In the phd thesis(and some other paper) of Dr. Sergey Levine, GPS exp on humanoid walking and running is included, but with little details.
So i come up with this problems when duplicating the humanoid exp.
Has anyone tried the humanoid walking or running experiments?
if the state vector is the joint angle and joint velocity, how can i get the derivativate dp/dq(where p is the height above the ground of the pelvis)?
Other than the robot arm, the end position is the map function of the joint angle f(q), as for humanoid walking or running
how to deal with this problem?
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