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

IEEE CDC 2004 Supplemental Material

Asymptotic Stabilization of a Five-link, Four-Actuator, Planar Bipedal Runner

by C. Chevallereau, E.R. Westervelt, and J.W. Grizzle

Submission with additional, related documents

C. Chevallereau, E.R. Westervelt, and J.W. Grizzle Asymptotic Stabilization of a Five-link, Four-Actuator, Planar Bipedal Runner. Pre-print, submitted to CDC 2004 on March 5, 2004.
Additional plots and figures
Draft of a Longer Version of the Paper: Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot, Pre-print, paper submitted to IJRR. Paper submitted May 28, 2004. [Supplemental Material].

AVIs of running motions

10% motion
(1.1 Mb)

50% speed
(477 kb)

full speed
(187 kb)

The prototype RABBIT

Last modified: Mon Mar 15 09:04:13 Eastern Standard Time 2004