Lecture 4: Heuristical Gait Control
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**Lab:** :doc:`../../labs/fall-25/lab-4` 

**Lecture Slides:** https://drive.google.com/file/d/1LTnn9yEgS1I8yAj-WlNaUNHUHVJWXP-j/view?usp=sharing

**Lab Review Slides:** https://docs.google.com/presentation/d/1KhDySk7tXiDoaovGN39XFggkJt5WCZ5Ue0DzZhLcDKU/edit?usp=sharing

**Lab Document:** https://docs.google.com/document/d/1_ZpwR8OAQS39QISJryON0GBG1AbQ2RqVT3LJr9OzBZ8/edit