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 Robotica

Feedback Control of an Underactuated Planar Bipedal Robot with Impulsive Foot Action

by Jun Ho Choi, and J. W. Grizzle.

Robot animation
This is an animation showing that a robot with impulsive foot action can achieve more energy efficient gait than a robot without impulsive foot action. Both robots are walking at the same cost, energy per distance, while one of them has impulsive foot action and the other does not. The robot with impulsive foot action can walk faster than the robot without foot action with the same cost.
(1.45 Mb)
 

Last modified: Wednesday June 2, 2004