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Copyright: These models belong to me and/or my students. You may use them for your own ends as long as you
cite their
source, preferably a publication of ours where they were either introduced, used or analyzed.
Important: These models come with no guarantee of accuracy and no support. If you have a problem with one of them,
do not email me; read the paper from whence it came and build it yourself! Nevertheless, many of you will find
any models placed here to be useful. I do hope that they are bug free, but I do not guarantee this and I do not
accept any responsibility for their use or misuse. Many students are using these models as sources for projects.
Models in MATLAB format
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Planar Biped Models. The three link model
is nicely explained in J.W. Grizzle, Gabriel Abba and Franck Plestan,
Asymptotically Stable Walking for Biped Robots: Analysis via Systems
with Impulse Effects.
Reprint, IEEE T-AC, Volume 46, No. 1, January 2001, pp. 51-64.
revised version. The five link model is explained in E.R. Westervelt, J.W. Grizzle, and D.E. Koditschek,
Hybrid Zero Dynamics of Planar Biped Walkers.
Reprint, IEEE-TAC, Vol. 48, No. 1, January 2003, pp. 42-56.
[Supplemental Material], and also
Franck Plestan, J.W. Grizzle, Eric Westervelt and Gabriel Abba,
Stable Walking of a 7-DOF Biped Robot.
Preprint, to appear in IEEE Trans. Robotics and Automation, March 2002.
[Supplemental Material].
Original submission, Feb. 2001.
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Dynamic O2 storage model for a TWC. The model is based on work by
E.P. Brandt, Y. Wang and J.W. Grizzle,
Dynamic Modeling of a Three-Way Catalyst for SI
Engine Exhaust Emission Control.
Reprint, IEEE T-Control Technology, Vol. 8, No. 5, September 2000, pp. 767-776.
Back to Grizzle's home page
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