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

Identification and Dynamic Model of a Bipedal Robot with a Cable-Differential-Based Compliant Drivetrain: Supplemental Material

Plots of various quantities of interest

	MATLAB Figure	JPG
SISO qLA simulation (solid red line) and experimental (dotted blue line) data in degrees.
SISO qLS simulation (solid red line) and experimental (dotted blue line) data in degrees.
MIMO left leg simulation (solid red line) and experimental (dotted blue line) data in degrees.
MIMO right leg simulation (solid red line) and experimental (dotted blue line) data in degrees.

A ZIP file detailing the powertrain model of the robot is available here. [Right Click and Save]

Last modified: Fri March 12 2010