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
Monopedal Running Control: SLIP Embedding and Virtual Constraint Controller
|Simulation results and implementation details|
This document presents additional results accompanying the paper "Monopedal Running Control: SLIP Embedding and Virtual Constraint Controllers". The document is divided in two parts. In the first part, details regarding the simulation implementation of the controllers in  are given. In the second part, additional results that support the conclusions derived in  are included. The reader who is not interested in the implementation part can pass directly to Section II.
|Animation of Running Motion|
An asymmetric hopper (ASLIP) running at a speed of 2 m/s using the SLIP embedding controller.
Last modified: Tuesday May 15 2007