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:

Hybrid Zero Dynamics of Planar Biped Robots: Supplemental Material

MPEG Movies of walking at 1.05 m/s from three different views
View 1 View 2 View 3
(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