Search Results - "Grizzle, J W"

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL by Sreenath, Koushil, Park, Hae-Won, Poulakakis, Ioannis, Grizzle, J W

“…The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion…”
Get full text

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL by Sreenath, Koushil, Park, Hae-Won, Poulakakis, Ioannis, Grizzle, JW

“…A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a…”
Get full text

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot by Chevallereau, C., Grizzle, J.W., Ching-Long Shih

“…This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D bipedal robot consisting of a…”
Get full text

Hybrid zero dynamics of planar biped walkers by Westervelt, E.R., Grizzle, J.W., Koditschek, D.E.

“…Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This paper presents the design of exponentially…”
Get full text

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking by Hae-Won Park, Ramezani, A., Grizzle, J. W.

“…This paper presents a feedback controller that allows MABEL, which is a kneed planar bipedal robot with 1-m-long legs, to accommodate terrain that presents…”
Get full text

SP-SDP for Fuel Consumption and Tailpipe Emissions Minimization in an EVT Hybrid by Tate, Ed D, Grizzle, J W, Huei Peng

“…Control strategies have been developed for hybrid electric vehicles (HEV) that minimize fuel consumption while satisfying a charge sustaining constraint. Since…”
Get full text

Nonlinear control of mechanical systems with an unactuated cyclic variable by Grizzle, J.W., Moog, C.H., Chevallereau, C.

“…Numerous robotic tasks associated with underactuation have been studied in the literature. For a large number of these in the plane, the mechanical models have…”
Get full text

Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot by Chevallereau, C., Westervelt, E. R., Grizzle, J. W.

“…Provably asymptotically stable running gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the…”
Get full text

Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds by Westervelt, E. R., Buche, G., Grizzle, J. W.

“…In this paper we present the experimental validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce…”
Get full text

Nonlinear control for magnetic levitation of automotive engine vales by Peterson, K.S., Grizzle, J.W., Stefanopoulou, A.G.

“…Position regulation of a magnetic levitation device is achieved through a control Lyapunov function (CLF) feedback design. It is shown experimentally that by…”
Get full text

Switching and PI control of walking motions of planar biped walkers by Westervelt, E.R., Grizzle, J.W., Canudas de Wit, C.

“…A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a fixed walking rate for a…”
Get full text

Observer design for nonlinear systems with discrete-time measurements by Moraal, P.E., Grizzle, J.W.

“…This paper focuses on the development of asymptotic observers for nonlinear discrete-time systems. It is argued that instead of trying to imitate the linear…”
Get full text

Dual-UEGO active catalyst control for emissions reduction: design and experimental validation by Fiengo, G., Grizzle, J.W., Cook, J.A., Karnik, A.Y.

“…This paper investigates active control of an aftertreatment system for a conventional spark ignition engine equipped with one or two three-way catalysts and…”
Get full text

A stochastic control strategy for hybrid electric vehicles by Chan-Chiao Lin, Huei Peng, Grizzle, J.W.

“…The supervisory control strategy of a hybrid vehicle coordinates the operation of vehicle sub-systems to achieve performance targets such as maximizing fuel…”
Get full text

Power management strategy for a parallel hybrid electric truck by Chan-Chiao Lin, Huei Peng, Grizzle, J.W., Jun-Mo Kang

“…Hybrid vehicle techniques have been widely studied recently because of their potential to significantly improve the fuel economy and drivability of future…”
Get full text

Asymptotically stable walking for biped robots: analysis via systems with impulse effects by Grizzle, J.W., Abba, G., Plestan, F.

“…Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of…”
Get full text

Compensation for transient chamber wall condition using real-time plasma density feedback control in an inductively coupled plasma etcher by Klimecky, Pete I., Grizzle, J. W., Terry, Fred L.

“…Reactive ion etch processing is known to exhibit significant variability in final etch performance due to wall condition. Previous studies have shown that…”
Get full text

Asymptotic model matching for nonlinear systems by Di Benedetto, M.D., Grizzle, J.W.

“…This paper investigates the problem of designing a compensating control law for a square invertible nonlinear plant so that the response of the closed-loop…”
Get full text

Discrete-time control design with positive semi-definite Lyapunov functions by Grizzle, J.W., Kang, Jun-Mo

“…A useful stability analysis technique from continuous-time nonlinear systems (Iggidr et al., Systems Control Lett. 9 (1996) 95) is extended to the…”
Get full text

Idle speed control of a direct injection spark ignition stratified charge engine by Grizzle, J. W., Buckland, Julia, Sun, Jing

“…Idle speed control is investigated for a direct injection, spark ignition, stratified charge (DISC) engine equipped with an electronic throttle. Such engines…”
Get full text