Identification of a bipedal robot with a compliant drivetrain: Parameter estimation for control design. Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and Jessy W. Grizzle. IEEE Control Systems Magazine (CSM), 31(2):63–88, April 2011.

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Additional Videos

  • Hopping Experiment - To validate the cable stiffness and ground parameters.

Text Reference

Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and Jessy W. Grizzle, "Identification of a bipedal robot with a compliant drivetrain: Parameter estimation for control design", IEEE Control Systems Magazine (CSM), 31(2):63–88, April 2011.

BibTeX Reference

@article{CSM2011,
author       = {Hae-Won Park and Koushil Sreenath and Jonathan Hurst and Jessy W. Grizzle},
title        = {Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter estimation for control design},
journal      = {IEEE Control Systems Magazine (CSM)},
volume       = {31},
number       = {2},
pages        = {63--88},
month        = apr,
year         = {2011},
}