Jessy Grizzle
Feedback Control of Dynamic Bipedal Robot Locomotion
| Videos | MATLAB Code | Errata |
Feedback Control of Dynamic Bipedal Robot Locomotion
Welcome! This webpage contains information about the book Feedback Control of Dynamic Bipedal Robot Locomotion, Taylor & Francis/CRC, 2007. (ISBN 1-42005-372-8)
Authors:
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Videos of the experiments reported in the book
RABBIT
- See movies located at Biped Robot RABBIT-ROBEA Project.
ERNIE
- Book experiment 1: Walking at 0.32 m/s without springs in parallel with the knees
- Book experiment 2: Walking at 0.32 m/s with springs in parallel with the knees
MATLAB code for two of the book’s robot models
- WGCCM_five_link_model_generation_example.zip: Routines that use the Symbolic Math Toolbox to generate the equations of motion for a 5-link (kneed) biped walker with the morphology of RABBIT. The example includes a function to automatically generate MATLAB functions from symbolic expressions.
- WGCCM_three_link_walker_example.zip: A complete simulation and animation example of a three-link walker. The Symbolic Math Toolbox is required to derive the model and control routines.
Reporting errata items and the book’s errata
- Errata sheet (a list of the currently known errors)
- Submit an errata item
Extensions of the work
- 3D Robots (Extensions of the methods in the book to 3D)
- 2D Robots with Compliance (Extensions of the methods in the book to address compliance)
- More videos (Further experimental work using virtual constraints and hybrid zero dynamics)
Updated: 7 July 2010
Created: 18 November 2007