Koditschek, Daniel2023-05-232018-09-032017-10-022018-09-03https://repository.upenn.edu/handle/20.500.14332/45742This second unit has to do with the building of the hybrid systems model, the crucial thing that we've been focusing on. And here we're going to introduce to the flows that we did in unit one, we're going to introduce the hybrid structures, the guards, and the resets, and the mode maps.youtubehttp://creativecommons.org/licenses/by-nc/4.0/ComputationallyrobotlocomotionsimulationEngineeringArticle