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Eric Westervelt's Publications

Book

  1. E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, Feedback Control of Dynamic Bipedal Robot Locomotion, Taylor & Francis/CRC Press, 2007, ISBN 1-42005-372-8

Journal

  1. A. Navalgund, D. Heiss, E. R. Westervelt, and T. Wadsworth, "Characterizing Reflex Responses in the Paraspinal Muscles upon Sudden Perturbation," Submitted to the Biological Cybernetics, July 2007. Paper submitted July 30, 2007.
  2. S. Srinivasan, E. R. Westervelt, and A. H. Hansen, "A Sagittal-Plane Forward Dynamic Model for Asymmetric Gait and its Application to Study Gait of Prosthesis Users," Submitted to the ASME Journal of Biomechanical Engineering, June 27, 2007.
  3. J. McKendry, B. Brown, E. R. Westervelt, and J. P. Schmiedeler, "Design and Analysis of a Class of Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom," Submitted to the ASME Journal of Mechanical Design, June 26, 2007.
  4. S. Srinivasan, I. Raptis, and E. R. Westervelt, "A Low-dimensional Sagittal Plane Model for Normal Human Walking," Submitted to the ASME Journal of Biomechanical Engineering, March 19, 2007. Provisionally accepted May 25, 2007.
  5. E. R. Westervelt, B. Morris, and K. D. Farrell, "Analysis Results and Tools for the Control of Planar Bipedal Gaits using Hybrid Zero Dynamics," Autonomous Robots, Vol. 23, July 2007, pp. 131-145. Paper submitted June 20, 2006. Paper accepted February 2, 2007.
  6. B. Morris, E. R. Westervelt, C. Chevallereau, G. Buche, and J. W. Grizzle, "Achieving Bipedal Running with RABBIT: Six Steps toward Infinity," Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, M. Diehl and K. Mombaur, Eds., pp. 277-298, Springer, 2006. [Supplemental Material]
  7. R.B. Gillespie, V. Patoglu, I. Hussein, and E. R. Westervelt, "On-line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems," Multibody System Dynamics, Vol. 14, No. 3-4, November 2005, pp. 387-417. Paper submitted June 2004. Paper accepted April 2005.
  8. C. Chevallereau, E. R. Westervelt, and J. W. Grizzle, "Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot," The International Journal of Robotics Research, Vol. 24, No. 6, June 2005, pp. 431-464. Paper submitted May 28, 2004. Paper accepted March 9, 2005. [Supplemental Material]
  9. E. R. Westervelt, G. Buche, and J. W. Grizzle, "Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds," The International Journal of Robotics Research, Vol. 24, No. 6, June 2004, pp. 559-582. [Supplemental Material]
  10. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-de-Wit, and J. W. Grizzle, "RABBIT: A Testbed for Advanced Control Theory," IEEE Control Systems Magazine, Vol. 23, No. 5, October 2003, pp. 57-79. [Supplemental Material]
  11. F. Plestan, J. W. Grizzle, E. R. Westervelt, and G. Abba, "Stable Walking of a 7-DOF Biped Robot," IEEE Transactions Robotics and Automation, Vol. 19, No. 4, August 2003, pp. 653-668. [Supplemental Material]
  12. E. R. Westervelt, J. W. Grizzle, and C. Canudas de Wit, "Switching and PI Control for Planar Biped Walkers," IEEE Transactions on Automatic Control, Vol. 48, No. 2, February 2003, pp. 308-312. [Supplemental Material]
  13. E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, "Hybrid Zero Dynamics of Planar Biped Walkers," IEEE Transactions on Automatic Control, Vol. 48, No. 1, January 2003, pp. 42-56. [Supplemental Material]

Conference

  1. T. Yang, E. R. Westervelt, J. P. Schmiedeler, and R. A. Bockbrader, "Design and Control of the Planar Bipedal Robot ERNIE," Submitted to the 2007 ASME International Mechanical Engineering Congress & Exposition, Seattle, WA, November 2007.
  2. T. Yang, E. R. Westervelt, and J. P. Schmiedeler, "Using Parallel Joint Compliance to Reduce the Cost of Walking in a Planar Bipedal Robot," Submitted to the 2007 ASME International Mechanical Engineering Congress & Exposition, Seattle, WA, November 2007.
  3. K. Koprubasi, E. R. Westervelt, G. Rizzoni, E. Galvagno, and M. Velardocchia, "Development and Validation of a Model for Drivability Control of a Hybrid-Electric Vehicle," Submitted to the 2007 ASME International Mechanical Engineering Congress & Exposition, Seattle, WA, November 2007.
  4. K. Koprubasi, E. R. Westervelt, and G. Rizzoni, "Toward the Systematic Design of Controllers for Smooth Hybrid Electric Vehicle Mode Changes," 2007 American Control Conference, New York, NY, July 2007. Paper submitted September 21, 2006. Paper accepted December 2006.
  5. J. McKendry, B. Brown, E. R. Westervelt, and J. Schmiedeler, "Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree-of-Freedom," 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007. Paper submitted September 15, 2006. Paper accepted December 2006. [video of mechanism described in the paper]
  6. K. D. Farrell, C. Chevallereau, and E. R. Westervelt, "Energetic Effects of Adding Springs at the Passive Ankles of a Walking Biped Robot," 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007. Paper submitted September 15, 2006. Paper accepted December 2006.
  7. T. Yang, E. R. Westervelt, and A. Serrani, "A Framework for the Control of Stable Aperiodic Walking in Underactuated Planar Bipeds," 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007. Paper submitted September 15, 2006. Paper accepted December 2006.
  8. A. Navalgund, D. Heiss, E. R. Westervelt, and N. Berme, "An Inverted Pendulum Model for the Spine to Study Muscle Recruitment Patterns on Sudden Perturbation," American Society of Biomechanics Annual Meeting, September 2006. Paper submitted April 5, 2006. Paper accepted May 2006.
  9. E. R. Westervelt, B. Morris, and K. D. Farrell, "Sample-Based HZD Control for Robustness and Slope Invariance of Planar Passive Bipedal Gaits," The IEEE 14th Mediterranean Conference on Control Automation, June 2006. Paper submitted February 8, 2006. Paper accepted April 2006.
  10. K. Koprubasi, J. M. Morbitzer, E. R. Westervelt, and G. Rizzoni, "Toward a Framework for the Hybrid Control of a Multi-Mode Hybrid-Electric Driveline," The 2006 American Control Conference, Minneapolis, MN, June 2006. Paper submitted September 22, 2005. Paper accepted January 23, 2006.
  11. J.M. Morbitzer, G. Rizzoni, and E. R. Westervelt, "Dynamic Analysis and Control Development for a Cross-Over Vehicle with a Dual Hybrid-Electric System," IEEE Vehicle Power and Propulsion (VPP) Conference, September 2005.
  12. J.P. Schmiedeler, E. R. Westervelt, and A.R. Dunki-Jacobs, "Integrated design and control of a biped robot," Proceedings of the ASME International Design Engineering Technical Conference, Long Beach, CA, September 2005.
  13. O. Barbarisi, E. R. Westervelt, G. Rizzoni, and F. Vasca, "Power Management Decoupling Control for a Hybrid Electric Vehicle," IEEE 2005 Conference on Decision and Control, Seville, Spain, December 2005. Paper submitted March 7, 2005. Paper accepted July 14, 2005.
  14. S. Srinivasan and E. R. Westervelt, "An Analytically Tractable Model for a Complete Gait Cycle," XXth Congress of the International Society of Biomechanics, August 2005. Paper submitted February 7, 2005. Paper accepted April 26, 2005.
  15. C. Chevallereau, E. R. Westervelt, and J. W. Grizzle, "Asymptotic Stabilization of a Five-link, Four-Actuator, Planar Bipedal Runner," 2004 IEEE Conference on Decision and Control, Nassau, Bahamas, December 2004. [Supplemental Material]
  16. E. R. Westervelt, J.P. Schmiedeler, G. Washington, "Variable transmission compliance with an MR damper," ASME International Mechanical Engineering Congress and RD&D Expo, Anaheim, CA, November 13-19, 2004.
  17. E. R. Westervelt, G. Buche, and J. W. Grizzle, "Inducing Dynamically Stable Walking in an Underactuated Prototype Planar Biped," IEEE 2004 International Conference on Robotics and Automation, New Orleans, LA, April 2004. [Supplemental Material]
  18. J. W. Grizzle, E. R. Westervelt, and C. Canudas de Wit, "Event-based PI Control of an Underactuated Biped Walker," IEEE Conference on Decision and Control, Maui, HI, December 2003. [Supplemental Material]]
  19. E. R. Westervelt and J. W. Grizzle, "Sequential Composition of Walking Motions for a 5-Link Planar Biped Walker," Workshop on Future Directions in Nonlinear Control of Mechanical Systems, October 2, 2002, University of Illinois, Urbana-Champaign, IL. [Supplemental Material]. The talk inlcuded results from C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-de-Wit, and J. W. Grizzle, "RABBIT: A Testbed for Advanced Control Theory," IEEE Control Systems Magazine, Vol. 23, No. 5, October 2003, pp. 57-79. [Supplemental Material]
  20. E. R. Westervelt and J. W. Grizzle, "Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization," IEEE International Conference on Robotics and Automation, May 10-17, 2002, Washington, DC.
  21. E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, "Zero Dynamics of Underactuated Planar Biped Walkers," IFAC-2002, Barcelona, Spain, July 21-26, 2002.
  22. F. Plestan, J. W. Grizzle, E. R. Westervelt, and G. Abba, "Controlled Periodic Motion in a Nonlinear System with Impulse Effects: Walking of a Biped Robot," IFAC NOLCOS-2001, Saint-Petersburg, Russia, July 4-6, 2001.

Other

  1. E. R. Westervelt, Book review: Robot Modeling and Control, by M.W. Spong, S. Hutchinson and M. Vidyasagar. Control Systems Magazine, 2006.
  2. E. R. Westervelt, Toward a Coherent Framework for the Control of Planar Biped Locomotion, Ph.D. thesis, University of Michigan, June 2003. Also available with double-sided formatting. [Supplemental Material]
  3. Available: Material from 1/2 day 2003 IEEE Conference on Decision and Control Workshop, "Feedback Control of Biped Walking Robots" with co-presenters Jessy W. Grizzle, C. Canudas-de-Wit, M. W. Spong, and Anton Shiriaev.