Jessy W. Grizzle
Elmer G. Gilbert Distinguished University Professor
Jerry W. and Carol L. Levin Professor of Engineering
Director of Robotics
University of Michigan
Electrical & Computer Engineering
1301 Beal Ave. (3215 EECS Bldg.)
Ann Arbor, MI 48109
Tel: (734) 763-3598
Fax: (734) 763-8041
Supplemental Material for CDC 2004
Planar Bipedal Robot with Impulsive Foot Action
by Jun Ho Choi and J.W. Grizzle.
Simulation result and parameters
Table 1 shows the work done by the joint actuators and the
foot actuator. The work is normalized by the distance traveled during one
step. The normalized work done by the robot with foot actuation is less
than the robot without foot actuation, which implies that having foot
helps to reduce the work required to walk
Table 2 shows other parameters to calculate the Poincaré
return map and the fixed point.
Proof of the properties are available.
Robot with impulsive foot actuation is simulated to walk at the speed of
Extended work on the planar bipedal robot with impulsive foot action
- Junho Choi and J.W. Grizzle, "Feedback
Control of an Underactuated Planar Bipedal Robot with Impulsive Foot
Action", Pre-print, paper submitted to Robotica. Paper
submitted June 2, 2004.
Last modified: Thursday August 31 2004