Difference: OptimizingWalking (12 vs. 13)

Contribution: It provides a way of defining the control parameters for the SIMBICON strategy based on metrics such as energy, angular momentum and velocity during the walking

Results evaluated: It is evaluated by comparing the walking with and without the optimization step, also using motion capture data and under changes on the terrain.

Reproducible: Yes, cma is a standard optimization process and simbicon code is available

Writing: I found it simple to follow and understand

-- Ernesto Torres

-- Main.etorresv - 24 Nov 2011