Robo4x - Video 9.4a

We've got this continuous time set of modes and for the spring loaded inverted pendulum, you'll recall that we really only have two contact modes. We have the stance mode, and we've got the flight mode. We fly down to touch down, from touch down we've flow down to bottom. And then lift off and then we fly up to apex.What we're going to do investigate the different coordinate representations of these vector fields in the very simple dynamics of flights.