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:

Feedback Control of Dynamic Bipedal Robot Locomotion by E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J.-H. Choi, and B. Morris
 

Feedback Control of Dynamic Bipedal Robot Locomotion

Welcome! This webpage contains information about the book Feedback Control of Dynamic Bipedal Robot Locomotion, Taylor & Francis/CRC, 2007. (ISBN 1-42005-372-8)

Feedback Control of Dynamic Bipedal Robot Locomotion cover
Feedback Control of Dynamic Bipedal Robot Locomotion back cover
Authors:
Eric R. Westervelt
Eric R. Westervelt
Jessy W. Grizzle
Jessy W. Grizzle
Christine Chevallereau
Christine Chevallereau
JunHo Choi
Jun-Ho Choi
Benjamin Morris
Benjamin Morris

Promotional flyer Book excerpts Order at Amazon.com Download Free Copy

Videos of the experiments reported in the book

RABBIT ERNIE

MATLAB code for two of the book's robot models

  • WGCCM_five_link_model_generation_example.zip: Routines that use the Symbolic Math Toolbox to generate the equations of motion for a 5-link (kneed) biped walker with the morphology of RABBIT. The example includes a function to automatically generate MATLAB functions from symbolic expressions.
  • WGCCM_three_link_walker_example.zip: A complete simulation and animation example of a three-link walker. The Symbolic Math Toolbox is required to derive the model and control routines.

Reporting errata items and the book's errata

Extensions of the work

  • 3D Robots (Extensions of the methods in the book to 3D)
  • 2D Robots with Compliance (Extensions of the methods in the book to address compliance)
  • More videos (Further experimental work using virtual constraints and hybrid zero dynamics)
Updated: 14 November 2016
Created: 18 November 2007