1. 1 Identification of Running Dynamics Perturbation response reveals control architecture

2. 2 Identification of Running Dynamics Careful state estimation enables identification – Rigid body state – Tarsus position, velocity

3. 3 Identification of Running Dynamics We are applying Hybrid System Identification techniques under development in Autonomy Center to understand neuromechanical control in animals – Sam Burden, AM3 Task 1.4 (PI: Prof. Shankar Sastry) Simple hybrid models enable direct translation of biological principles to improve design and simplify control of running robots