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 IROS 2007

Monopedal Running Control: SLIP Embedding and Virtual Constraint Controller

by Ioannis Poulakakis and J.W. Grizzle.

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 [1] are given. In the second part, additional results that support the conclusions derived in [1] 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.


Recovering from a 6deg perturbation in the pitch angle using the SLIP embedding controller.
Related papers
 

Last modified: Tuesday May 15 2007