Someone explain hybrid zero dynamics in simple english?

[Deathfish]

Homework Statement

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

 

[Valkarie]

me in the right directionHomework Equations The Attempt at a Solution Hybrid zero dynamics is a combination of two approaches for controlling robotic systems. The first approach is to use a feedback control system that maintains the robot's state at a desired trajectory, while the second approach is to use a feed-forward control system that moves the robot along a predetermined path. In the hybrid zero dynamics approach, both of these methods are combined in order to create a more robust and efficient control system. The feedback control system works by monitoring the robot's current state and making adjustments to keep it on the desired trajectory. This is done by measuring the robot's position and orientation relative to its goal, and then applying corrective forces to keep it on track. The feed-forward control system works by inputting a desired trajectories and then calculating the necessary forces to move the robot along the path. The combination of these two approaches helps to create a more efficient control system as it allows the robot to quickly adapt to changes in the environment. This is especially useful when the robot is navigating unknown terrain as it can quickly adjust its movements to the new terrain. Furthermore, the hybrid zero dynamics approach can also reduce the amount of energy used by the robot as it can avoid unnecessary corrections.