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:

IEEE TRA Submission Supplemental Material

Key to data presented below
simple output on rigid surface
optimal output on rigid surface
optimal output on rigid surface with external perturbation force
optimal output on rigid surface with change in surface height
optimal output on compliant surface

MPEG Movies of walking
(2.0 Mb)
(1.8 Mb)
(1.8 Mb)
(1.8 Mb)
(1.8 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
  • MATLAB file to generate equations of motion

    Last modified: Mon Mar 11 18:45:17 EST 2002