Jessy Grizzle

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

Jessy Grizzle

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

Jessy Grizzle

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

Supplemental Material for IEEE Transactions on Robotics

Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot, by C. Chevallereau, J.W. Grizzle, and Ching-Long Shih.

Walking with Various Stabilization Methods (AVI Format, 50% Speed)

Stability Constraint
During Optimization

Event-Based Control

Output Choice

Walking with Various Stabilization Methods (MWV Format, 50% Speed)

Stability Constraint
During Optimization

Event-Based Control

Output Choice

Walking with Various Stabilization Methods (AVI Format, 25% Speed) Slow Motion

Stability Constraint
During Optimization

Event-Based Control

Output Choice

Walking with Various Stabilization Methods (MWV Format, 25% Speed) Slow Motion

Stability Constraint
During Optimization

Event-Based Control

Output Choice