Copyright (c) 2003 by Eric Westervelt and Jessy Grizzle. This code
may be freely used for noncommercial ends. If use of this code in part
or in whole results in publication, proper citation must be included
in that publication. This code comes with no guarantees or support.
Start MATLAB, “cd” to the directory where this file is located and
execute the m-file “main”. The default is to take 10 steps,
perform an animation of the motion, and plot various quantities of
interest. To re-view the animation at a slower speed, try
Experimental Validation of a Framework for the Design of
Controllers that Induce Stable Walking in Planar Bipeds, by
E.R. Westervelt, G. Buche, and J.W. Grizzle, Submitted to the The
International Journal of Robotics Research for definition of the
coordinates used in this simulator. This paper is available at
The following is a description of each m-file in the simulator.