Supplemental Material for
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
Table 2 shows other parameters to calculate the Poincaré 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.||
Extended work on the planar bipedal robot with impulsive foot action