| Why spring stiffnesses are a good language |
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| • | The four spring
stiffnesses |
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| define a
quadratic energy |
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| function. This
function |
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| generates an
acceleration. The |
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| acceleration
depends on |
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| where the mass
is. |
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| • | If the mass is
not where we |
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| thought it was
during planning, |
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| the force that is
generated is |
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| the planned force
plus a |
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| feedback term
that pulls the |
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| mass back towards
where it |
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| should have been |
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| feedback
term |
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| planned |
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| position |
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| iso-energy |
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| contour |
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| planned
force |