Supplemental Material for CDC 2004
  Planar Bipedal Robot with Impulsive Foot Action
   by Jun Ho Choi and J.W. Grizzle.
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Simulation result and parameters

Table 1 shows the work done by the joint actuators and the foot actuator. The work is normalized by the distance traveled during one step. The normalized work done by the robot with foot actuation is less than the robot without foot actuation, which implies that having foot actuation
helps to reduce the work required to walk

Table 2 shows other parameters to calculate the Poincar return map and the fixed point.

Proof of properties
Proof of the properties are available.
Animation of walking
Robot with impulsive foot actuation is simulated to walk at the speed of 0.95 m/s.

(1004 kb)
Related paper
Extended work on the planar bipedal robot with impulsive foot action
Last modified: Thursday August 31 2004