6. Practical implementation
So far, the general dynamic problem described in Section 2 has been addressed within the Lagrangian framework. Although the Lagrangian approach is well-suited for analysis and classification, the Newton-Euler formalism is preferred when addressing problems related to rapid simulation and the control of locomotion dynamics. Of course, such a model has the same physical content as the Lagrangian model. However, it derives from...
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Practical implementation
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