Grizzle  Mabel  controls leg length and leg position (LIKE YuengHe!)
 Uses "virtual holonomic constraints"
 Assume there is a "crank" that drives all of the kinematics forward, then when various segments diverge minimize the error on the constraints.
 Utilizing mechanics gives a 4:1 improvement in efficiency based on:
 PositiveWork / Mass / Distance
 For control utilize hybrid zerodynamics
 When controlling stiffness adding a deadbeat improves robustness
Petros Ioannou  Robust adaptive control
 Identifier based control
 Try and find appropriate control based on measured output
 This makes the openloop LTI system into a nonlinear timevarying closed loop system
 Use feedforward control to move the position of the zeros of the closed loop system
 Using ARMA or backwarddifference Euler is equivalent
Kahlil  High gain observers
 Two problems in high gain observers
 Peaking phenomenen
 Saturation
 In high gain you have the possibility of destabilizing the system with faster control than measurement
 Have the possibility of recovering the actual trajectory of the system
 Can you use these techniques for system identification?
Krstic  Stochastic averaging and extremum seeking
 You can reach the global optimum through using stochastic averaging
