CDC 2003 Submission Supplemental Material

MPEG Movies of disturbance rejection illustration

(view 1, 8.3 Mb) (view 3, 6.6 Mb)

Plots of various quantities of interest for the disturbance rejection illustration

PDF PNG MATLAB Figure coordinate position trajectories coordinate velocity trajectories control signals output trajectories stance leg end ground reaction forces

MPEG Movies of parameter mismatch illustration

(view 1, 7.2 Mb) (view 3, 6.2 Mb)

Plots of various quantities of interest for the parameter mismatch illustration

PDF PNG MATLAB Figure coordinate position trajectories coordinate velocity trajectories control signals output trajectories stance leg end ground reaction forces

MPEG Movies of compliant model illustration

(view 1, 13 Mb) (view 3, 10 Mb)

Plots of various quantities of interest for the compliant model illustration

PDF PNG MATLAB Figure coordinate position trajectories coordinate velocity trajectories control signals stance leg end ground reaction forces

The robot model equation details below are from the IEEE TAC Submission Supplemental Material

in PDF format