Identification and Dynamic Model of a Bipedal Robot

with a Cable-Differential-Based Compliant Drivetrain: Supplemental Material

Plots of various quantities of interest
MATLAB Figure JPG
  • SISO qLA simulation (solid red line) and experimental (dotted blue line) data in degrees.
  • SISO qLS simulation (solid red line) and experimental (dotted blue line) data in degrees.
  • MIMO left leg simulation (solid red line) and experimental (dotted blue line) data in degrees.
  • MIMO right leg simulation (solid red line) and experimental (dotted blue line) data in degrees.

 
A ZIP file detailing the powertrain model of the robot is available here. [Right Click and Save]

Last modified: Fri March 12 2010