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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Robot animation
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.
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Last modified: Wednesday June 2, 2004