Page 1 of 3 123 LastLast
Results 1 to 10 of 22

Thread: Miscellaneous

  1. #1

    Miscellaneous



    Jessy Grizzle | Bipedal Walking Robots

    Published on Feb 16, 2015

    Distinguished University Professorship 2015 Lecture Series presented by Elmer G. Gilbert; Distinguished University Professor of Engineering, Jerry W. and Carol L. Levin; Professor of Engineering and the College of Engineering at the University of Michigan

    The fields of control and robotics are working hand-in-hand to development bipedal machines that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid nonlinear systems, meaning they contain both continuous and discrete elements, with switching events that are spatially driven by changes in ground contact. This talk will show how nonlinear control methods are enhancing the ability to achieve highly dynamic locomotion. The presented experiments will primarily focus on our past work on 2D (planar) bipedal robots; a new 3D robot is being installed at Michigan and we will show some of the preliminary results.
    Jessy W. Grizzle received the Ph.D. in electrical engineering from The University of Texas at Austin in 1983 and in 1984 held an NSF-NATO Postdoctoral Fellowship in Science in Paris, France. Since September 1987, he has been with The University of Michigan, Ann Arbor, where he is the Jerry and Carol Levin Professor of Engineering. He jointly holds sixteen patents dealing with emissions reduction in passenger vehicles through improved control system design. Professor Grizzle is a Fellow of the IEEE and of IFAC. He received the Paper of the Year Award from the IEEE Vehicular Technology Society in 1993, the George S. Axelby Award in 2002, the Control Systems Technology Award in 2003, and the Bode Lecture Prize in 2012. His work on bipedal locomotion has been the object of numerous plenary lectures and has been featured in The Economist, Wired Magazine, Discover Magazine, Scientific American, Popular Mechanics and several television programs.

  2. #2


    Sam Ambler, biped robot, drawing - Knutsford July 2012

    Published on Aug 13, 2012

    Sam Ambler biped robot drawing at a Cheshire Open Studios art event in Knutsford, 21/22 July 2012

  3. #3


    BIPED going up & down stair steps

    Published on Mar 16, 2015

    This was another student project using R+Motion V.1

  4. #4


    parvus robot mini biped

    Published on Apr 14, 2015

  5. #5
    Book "Feedback Control of Dynamic Bipedal Robot Locomotion"

    Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, JunHo Choi, Benjamin Morris

    Taylor & Francis/CRC, 2007

    "Feedback Control of Dynamic Bipedal Robot Locomotion" on Amazon

  6. #6


    Phase-indexed ILC for control of underactuated walking robots

    Published on Nov 17, 2015

    This video illustrates the use of Phase-Indexed Iterative Learning Control on an underactuated dynamic walking robot (a compass-gait walker) designed and built at the Australian Centre for Field Robotics. In particular, note the large reduction in tracking error when ILC is turned on. Full details on the algorithm and experiments be found here:
    "Phase-indexed ILC for control of underactuated walking robots"

  7. #7
    Article "Speedy robots may someday run to the rescue"

    by the National Science Foundation
    December 24, 2015

  8. #8


    Tactile sensing for small legged robots - bipedal running experiments

    Published on Jan 27, 2016

    We equipped a small bipedal running robot with tactile sensors to perform terrain classification using machine learning.
    Biomimetics and Dexterous Manipulation Lab

  9. #9


    IK Rig: Moving Forward - full talk available

    Published on Apr 5, 2016

  10. #10


    Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics

    Published on Jul 23, 2017

    In this video we show the performance of a new force control approach for our humanoid LOLA. By using an explicit contact model and integrated CoM dynamics, we are able to walk from an unexpected platform of 5.5 cm height.

Page 1 of 3 123 LastLast

Социальные закладки

Социальные закладки

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •