University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Locomotion
ECE 594D - Winter 2010
Dynamic Walking 2008 Tutorial
The files indexed here are from a conference on dynamic walking in Delft, 2008. Original versions of many files can be found here: DW2008 PDW Tutorial
| Date posted | File | Handout description | ||
| 1/10/2010 | test_stability_unstable.m | in-class example for ECE594D: Demo for successive post-collision states (3D); unstable case | ||
| 1/10/2010 | test_stability_stable.m | in-class example for ECE594D: Demo for successive post-collision states (3D); stable case | ||
| 1/10/2010 | Step.m | required for code above to run: Simulate EOM for one step | ||
| 1/10/2010 | Tutorial Assignment | Excellent tutorial! | ||
| 1/10/2010 | Tutorial Answers | Answers to tutorial above. | ||
| 1/10/2010 | AddMass.txt | Documentation on adding mass to the leg. | ||
| 1/10/2010 | Animation.m | File to animate step(s) of the walker. | ||
| 1/10/2010 | DeriveEOM.m | Equations of motion (requires symbolic toolbox in MATLAB) | ||
| 1/10/2010 | EnergyPlot.m | - | ||
| 1/10/2010 | PrintMatrix.m | - | ||
| 1/10/2010 | rotationmatrix.m | - | ||
| 1/10/2010 | StepError.m | - | ||
| 1/10/2010 | Walk.m | Simulates multiple "Step"s. | ||
| 1/10/2010 | animate_solution.m | script to set up everything to animate one step |
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Last Updated: January 21, 2010