IEEE TRA Submission Supplemental Material

[back to Publications]

Key to data presented below

simple output on rigid surface optimal output on rigid surface optimal output on rigid surface with external perturbation force optimal output on rigid surface with change in surface height optimal output on compliant surface

MPEG Movies of walking

(2.0 Mb) (1.8 Mb) (1.8 Mb) (1.8 Mb) (1.8 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

MATLAB file to generate equations of motion

symb_model_abs_red.m

Last modified: Mon Mar 11 18:45:17 EST 2002