adaptation¶

Adaptation: laws that change a running controller’s Params to track a goal.

Modules

`force`	Force tracking: gradient descent of a contact force error on a controller's live Params.
`limits`	What the laws share: which live Params they move, and the values those may take.
`position`	Positions of the robot's points by the goals of springs: integral action and feedforward.
`scalar`	Laws that need no model: they scale or set a Param from the force alone.
`seeking`	Extremum seeking: the live Params that lower a measured cost, found by dithering them.
`stiffness`	Direct stiffness tracking: the stiffness Params that give a wanted stiffness at a site.