chip updates: understanding control of higher-level robots [updates]
Check out this really interesting slide-show:
I found this after a google of "Lagrangian EoM for Quadrupedal Robot." It describes the control of the ANYmal robotic system (to which chip is pretty similar). We can also probably find something very similar for Cheetah 3 but for ANYmal the control is closer since they use SEA and chip's actuators are closer to SEA than they are to proprioception though we don't have torque control at all.
Have to look into this later.