Workshop on Future Directions in Nonlinear Control of Mechanical Systems Supplemental Material

MPEG Movies of example composition in paper

(view 1, 3.8 Mb) (view 2, 4.7 Mb) (view 3, 3.9 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

in PDF format in PostScript format

Last modified: Thu Jul 17 22:19:12 Eastern Daylight Time 2003