We consider several cases of control problems for diffusion processes when the payoff functional does not depend explicitly on the control. We prove the continuity of the optimal cost function and give a characterization of this cost with a quasi-variational inequality interpreting the problem as limit of an impulse control problem when the cost of impulse tends to zero. Moreover, we show the e...

Evolving dynamically stable robots from traditional statically stable walkers has not yet been feasible due to fundamental task differences, kinematic, actuation and energetic constraints. Instead, simple solutions to the dynamic locomotion problem are available, based on "RePaC" Revolute Passive Compliance design and control. We will describe the RePaC design and control principles and show ho...