Search Results - "Westervelt, E. R."

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

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

A low-dimensional sagittal-plane forward-dynamic model for asymmetric gait and its application to study the gait of transtibial prosthesis users by Srinivasan, S, Westervelt, E R, Hansen, A H

“…This paper presents an extension of a recently developed low-dimensional modeling approach for normal human gait to the modeling of asymmetric gait. The…”
Get more information

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

A framework for the control of stable aperiodic walking in underactuated planar bipeds by Yang, T., Westervelt, E. R., Serrani, A., Schmiedeler, J. P.

“…This paper presents a new definition of stable walking for point-footed planar bipedal robots that is not necessarily periodic. The inspiration for the…”
Get full text

Low-dimensional sagittal plane model of normal human walking by Srinivasan, S, Raptis, I A, Westervelt, E R

“…This paper applies a robotics-inspired approach to derive a low-dimensional forward-dynamic hybrid model of human walking in the sagittal plane. The…”
Get more information

Design and control of a planar bipedal robot ERNIE with parallel knee compliance by Yang, T., Westervelt, E. R., Schmiedeler, J. P., Bockbrader, R. A.

“…This paper presents the development of the planar bipedal robot ERNIE as well as numerical and experimental studies of the influence of parallel knee joint…”
Get full text

Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics by Westervelt, E R, Morris, B, Farrell, K D

“…New analysis and tools are presented that extend the hybrid zero dynamics (HZD) framework for the control of planar bipedal walkers. Results include (i)…”
Get full text

On-Line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems by Gillespie, R. Brent, Patoglu, Volkan, Hussein, Islam I., Westervelt, E. R.

Get full text

Inducing dynamically stable walking in an underactuated prototype planar biped by Westervelt, E.R., Buche, G., Grizzle, J.W.

“…This paper presents the experimental implementation and validation of a framework for the systematic design, analysis, and performance enhancement of…”
Get full text

Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner 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

Energetic Effects of Adding Springs at the Passive Ankles of a Walking Biped Robot by Farrell, K.D., Chevallereau, C., Westervelt, E.R.

“…This paper investigates the energetic effects of adding springs at the passive ankles of a planar five-link, four-actuator walking biped robot. The energetic…”
Get full text

Design of asymptotically stable walking for a 5-link planar biped walker via optimization by Westervelt, E R, Grizzle, J W

“…Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter…”
Get full text

Stable walking of a 7-DOF biped robot by Plestan, F., Grizzle, J.W., Westervelt, E.R., Abba, G.

“…The primary goal of this paper is to demonstrate a means to prove asymptotically stable walking in an underactuated, planar, five-link biped robot model. The…”
Get full text

Sample-Based HZD Control for Robustness and Slope Invariance of Planar Passive Bipedal Gaits by Westervelt, E.R., Morris, B., Farrell, K.D.

“…Controllers are developed that extend the hybrid zero dynamics (HZD) control approach to the control of planar biped walking by allowing constraints to be…”
Get full text

Toward the Systematic Design of Controllers for Smooth Hybrid Electric Vehicle Mode Changes by Koprubasi, K., Westervelt, E.R., Rizzoni, G.

“…This paper presents the initial results of the development of an approach for the hybrid control of a class of switched hybrid dynamical systems. This approach…”
Get full text

RABBIT: a testbed for advanced control theory by Chevallereau, C., Abba, G., Aoustin, Y., Plestan, F., Westervelt, E.R., Canudas-De-Wit, C., Grizzle, J.W.

“…Describes the design, construction and control of an experimental bipedal robot platform for the study of walking…”
Get full text

Painting green: Design and analysis of an environmentally and energetically conscious paint booth HVAC control system by Sadeghipour, E., Westervelt, E.R., Bhattacharya, S.

“…Paint booths in the automotive industry require conditioned air to achieve desired product finish quality. The large amount of conditioned air required to…”
Get full text

A Framework for the Control of Stable Aperiodic Walking in Underactuated Planar Bipeds by Yang, T., Westervelt, E.R., Serrani, A.

“…This paper presents a new definition of stable walking - that is not necessarily periodic - for a class of biped robots. The inspiration for the definition is…”
Get full text