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
Copyright: These models belong to me and/or my students. You may use them for your own ends as long as you cite their source, preferably a publication of ours where they were either introduced, used or analyzed. Important: These models come with no guarantee of accuracy and no support. If you have a problem with one of them, do not email me; read the paper from whence it came and build it yourself! Nevertheless, many of you will find any models placed here to be useful. I do hope that they are bug free, but I do not guarantee this and I do not accept any responsibility for their use or misuse. Many students are using these models as sources for projects.
Models in MATLAB Format
- Planar Biped Models. The three link model is nicely explained in J.W. Grizzle, Gabriel Abba and Franck Plestan, Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects. Reprint, IEEE T-AC, Volume 46, No. 1, January 2001, pp. 51-64. revised version. The five link model is explained in E.R. Westervelt, J.W. Grizzle, and D.E. Koditschek, Hybrid Zero Dynamics of Planar Biped Walkers. Reprint, IEEE-TAC, Vol. 48, No. 1, January 2003, pp. 42-56.[Supplemental Material], and also Franck Plestan, J.W. Grizzle, Eric Westervelt and Gabriel Abba, Stable Walking of a 7-DOF Biped Robot. Preprint, to appear in IEEE Trans. Robotics and Automation, March 2002. [Supplemental Material]. Original submission, Feb. 2001.
- Dynamic O2 storage model for a TWC. The model is based on work by E.P. Brandt, Y. Wang and J.W. Grizzle, Dynamic Modeling of a Three-Way Catalyst for SI Engine Exhaust Emission Control. Reprint, IEEE T-Control Technology, Vol. 8, No. 5, September 2000, pp. 767-776.