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• Terrestrial locomotion
• Robot control
• Dynamical systems
• Walking
• LOPES
• Generalized coordinates
• Gait
• Lagrangian mechanics
• Underactuation
• Running
• Zero moment point

Performance Analysis and Feedback Control of ATRIAS, A 3D Bipedal Robot Alireza Ramezani Ph.D Student Department of Mechanical Engineering University of Michigan

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• Terrestrial locomotion
• Robot kinematics
• Robot control
• Emerging technologies
• Gait
• Walking
• Boston Dynamics
• Robotics
• LOPES
• Generalized coordinates
• Underactuation
• Passive dynamics

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• Trigonometry
• Coordinate systems
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• Hyperbola
• Bearing pressure
• Generalized coordinates

Microsoft Word - IECON2007_Shih_Grizzle_CC[1].doc

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• Dynamical systems
• Generalized coordinates
• Lagrangian mechanics
• Underactuation

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1 CHAPTER 13 LAGRANGIAN MECHANICS 13.1 Introduction The usual way of using newtonian mechanics to solve a problem in dynamics is first of all to draw a large, clear diagram of the system, using a ruler and a compass. The

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• Classical mechanics
• Dynamical systems
• Polar coordinate system
• Spherical coordinate system
• Equations of motion
• Generalized coordinates
• Cylindrical coordinate system
• Lagrangian mechanics
• Holonomic
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• Classical mechanics
• Dynamical systems
• Systems theory
• Mechanics
• Generalized coordinates
• Multibody system
• Equations of motion
• Lagrangian mechanics
• Holonomic
• Physics
• Mathematics
• Algebra