IEEE TAC Technical Note Submission Supplemental Material

MPEG Movies of starting from a stop; increasing walking rate to 0.8 m/s and then slowing to a stop
View 1 View 2 View 3
(view 1, 6.0 Mb) (view 2, 7.4 Mb) (view 3, 7.0 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
The robot model equation details below are from the IEEE TAC Submission Supplemental Material

Last modified: Thu Jul 17 22:15:36 Eastern Daylight Time 2003