Jessy W. Grizzle

Elmer G. Gilbert Distinguished University Professor
Jerry W. and Carol L. Levin Professor of Engineering
Director of Robotics

University of Michigan
Robotics Institute
2505 Hayward St (2200 FRB)
Ann Arbor, MI 48109-2106
Tel: (734) 763-3598
Fax: (734) 763-8041
Email:

Ann Arbor, MI 48109-2106

Hybrid Zero Dynamics of Planar Biped Robots: Supplemental Material

MPEG Movies of walking at 1.05 m/s from three different views


(view 1, 5.2 Mb)	(view 2, 6.3 Mb)	(view 3, 5.1 Mb)

Plots of various quantities of interest

	PDF	PS	PNG	MATLAB Figure
coordinate position trajectories
coordinate velocity trajectories
control signals
output trajectories
stance leg end ground reaction forces

5-Link example robot equation details

Last modified: Thu Jul 17 22:11:26 Eastern Daylight Time 2003