Feedback Control of Dynamic Bipedal Robot Locomotion Welcome! This webpage contains information about the book Feedback Control of Dynamic Bipedal Robot Locomotion, Taylor & Francis/CRC, 2007. (ISBN 1-42005-372-8)

Authors: Eric R. Westervelt Jessy W. Grizzle Christine Chevallereau Jun-Ho Choi Benjamin Morris

Videos of the experiments reported in the book

• See movies located at Biped Robot RABBIT-ROBEA Project.

• Book experiment 1: Walking at 0.32 m/s without springs in parallel with the knees
• Book experiment 2: Walking at 0.32 m/s with springs in parallel with the knees

MATLAB code for two of the book's robot models

• WGCCM_five_link_model_generation_example.zip: Routines that use the Symbolic Math Toolbox to generate the equations of motion for a 5-link (kneed) biped walker with the morphology of RABBIT. The example includes a function to automatically generate MATLAB functions from symbolic expressions.
• WGCCM_three_link_walker_example.zip: A complete simulation and animation example of a three-link walker. The Symbolic Math Toolbox is required to derive the model and control routines.

Reporting errata items and the book's errata

• Errata sheet (a list of the currently known errors)
• Submit an errata item

Extensions of the work

• 3D Robots (Extensions of the methods in the book to 3D)
• 2D Robots with Compliance (Extensions of the methods in the book to address compliance)
• More videos (Further experimental work using virtual constraints and hybrid zero dynamics)