Supplemental Material for IROS 2007
Monopedal Running Control: SLIP Embedding and Virtual Constraint Controller
by Ioannis Poulakakis and J.W. Grizzle.
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Simulation results and implementation details

This document presents additional results accompanying the paper "Monopedal Running Control: SLIP Embedding and Virtual Constraint Controllers". The document is divided in two parts. In the first part, details regarding the simulation implementation of the controllers in [1] are given. In the second part, additional results that support the conclusions derived in [1] are included. The reader who is not interested in the implementation part can pass directly to Section II.

Animation of Running Motion
An asymmetric hopper (ASLIP) running at a speed of 2 m/s using the SLIP embedding controller.

Recovering from a 6deg perturbation in the pitch angle using the SLIP embedding controller.
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Last modified: Tuesday May 15 2007