The plant
J θ̈ = τ + d − b ω − Fc tanh(ω/ε)
− 0.012 sin(3.2 θ)
τ̇ = (sat(u) − τ)/0.01
4 ms command delay · 14-bit encoder
gyro bias + handshake · |u| ≤ 2.6 N·m
Controllers
SCENE 04 · TAKE 01 · REC
Talent walks. Hold the frame.
Angle enlarge
Torque & disturbance enlarge
Internals enlarge
Primitive map
What this method is
Scorecard · click a tile
Plant knobs
Race board
Saved takes
Run a loop or a race. Finished takes stay here until you reset the seed or plant knobs.