https://www.youtube.com/watch?v=78gjFSOLeK4&list=PLF6F8912BDCE92E60&index=14
MABEL running with passive feet in sneakers. The controller used is the same as that developed and implemented for point feet - Nonlinear Compliant Hybrid Zero Dynamics based controller with Active Force Control.
Getting MABEL to run with passive feet was very important. Applying what was learnt from this successful experiment was instrumental in getting MABEL to run with point-feet.
