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
EECS Department
Electrical & Computer Engineering
1301 Beal Ave. (3215 EECS Bldg.)
Ann Arbor, MI 48109
Tel: (734) 763-3598
Fax: (734) 763-8041
Email:

CDC 2003 Submission Supplemental Material

MPEG Movies of disturbance rejection illustration
View 1 View 3
(view 1, 8.3 Mb) (view 3, 6.6 Mb)
Plots of various quantities of interest for the disturbance rejection illustration
PDF PNG MATLAB Figure
  • coordinate position trajectories
  • coordinate velocity trajectories
  • control signals
  • output trajectories
  • stance leg end ground reaction forces
MPEG Movies of parameter mismatch illustration
View 1 View 3
(view 1, 7.2 Mb) (view 3, 6.2 Mb)
Plots of various quantities of interest for the parameter mismatch illustration
PDF PNG MATLAB Figure
  • coordinate position trajectories
  • coordinate velocity trajectories
  • control signals
  • output trajectories
  • stance leg end ground reaction forces
MPEG Movies of compliant model illustration
View 1 View 3
(view 1, 13 Mb) (view 3, 10 Mb)
Plots of various quantities of interest for the compliant model illustration
PDF PNG MATLAB Figure
  • coordinate position trajectories
  • coordinate velocity trajectories
  • control signals
  • stance leg end ground reaction forces
The robot model equation details below are from the IEEE TAC Submission Supplemental Material