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
MARLO, MABEL, and Rabbit videos are available on YouTube: Michigan Robotics: Dynamic Legged Locomotion Channel. Rabbit was active before YouTube; additional Rabbit videos can be accessed from this page.
Videos of RABBIT, a bipedal robot on which we performed extensive analysis and experiments from 1999 through 2004. RABBIT is a rigid, five-link, four-actuator, planar bipedal robot based in Grenoble, France. It was conceived for the study of underactuation in walking. This robot inspired the PI and colleagues to develop a novel paradigm for control law design which breaks cleanly away from the flat-footed (fully-actuated) assumption of previous work, and yet combines analytical tractability with the ability to treat realistic models.
Book on Control of Bipeds: Feedback Control of Dynamic Bipedal Robot Locomotion , Taylor & Francis, CRC Press, June 2007, 503 pages. Treats advanced issues and covers all the basics too! Professionals and graduate students alike will find the book accessible and useful.