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:

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 actuation
helps to reduce the work required to walk

Table 2 shows other parameters to calculate the Poincar return map and the fixed point.

Proof of properties
Proof of the properties are available.
Animation of walking
Robot with impulsive foot actuation is simulated to walk at the speed of 0.95 m/s.

0.95m/s
(1004 kb)
Related paper
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