Amir

[amirhossein-fattahi]

Changes on Control Law and Potential Energy based on the paper
(I'll work on energy_Xin, so you can ignore both energy_Amir files).

[fwiebe]

Hi @amirhossein-fattahi ,

thank you for your pull request!

Regarding the potential energy: Note that the coordinate origin used in this repository differs from the coordinate origin in the paper from Xin and Kaneda (see our documentation). I think with this choice of origin, the potential energy should be correct. If you still think there is a mistake, let me know.

Regarding the energy controller: If I am not mistaken the gravity vector is defined differently in this repository and in the paper (differing by a minus sign). Friction is added because it is not considered in the paper. So I think this should also be correct the way it is already implemented.

Let me know if I a missing something here.

Also, please only commit the files for a pull request which actually should be merged and remove those which are still work in progress or no longer needed.

Thanks :)