Hybrid Zero Dynamics of Planar Biped Robots: Supplemental Material

MPEG Movies of walking at 1.05 m/s from three different views

(view 1, 5.2 Mb) (view 2, 6.3 Mb) (view 3, 5.1 Mb)

Plots of various quantities of interest

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

5-Link example robot equation details

in PDF format in PostScript format

Last modified: Thu Jul 17 22:11:26 Eastern Daylight Time 2003