Supplemental Material for Robotica
Feedback Control of an Underactuated Planar Bipedal Robot with Impulsive Foot Action
by Jun Ho Choi , and J. W. Grizzle .
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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.