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Supplemental Material for IROS 2007
 Monopedal Running Control: SLIP Embedding and Virtual Constraint Controller by Ioannis Poulakakis and J.W. Grizzle.  | 
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| Simulation results and implementation details | 
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 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 | 
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| Related papers |