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Angular Momentum Calculations, Push-off impulse and heelstrike impact (with \
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In order to properly account for the energetics of push-off and heel-strike, \
we explicitly compute the state of the system between the two (the \
intermediate state) as if the system is in the air. The system does not \
actually have an aerial phase, but it does nonetheless require states that \
allow it to go aerial in order to properly describe the system before \
heelstrike.\
\>", "Text"],
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Angular momentum of whole system about COM, intermediate state, in terms of \
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Angular momentum of whole system about COM, intermediate state\
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Angular momentum of whole system about COM, intermediate state, in terms of \
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In terms of intermediate u's, where u[1] is the trailing leg, u[2] is the \
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leg, u[3] ground[1]+u[4] ground[2]. Thus there are horizontal and vertical \
components to the velocity of the foot, that will also contribute to the \
angular momentum. Below is the angular momentum of the trailing (stance) leg \
about the hip, plus the contribution of the translational velocity: position \
of the trailing leg COM with respect to the hip, crossed with mass of the leg \
times the additional translational velocity term.\
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