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E. R. Westervelt
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Proceedings Papers

Design and Control of the Planar Bipedal Robot ERNIE

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T. Yang, E. R. Westervelt, J. P. Schmiedeler, R. A. Bockbrader
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1217-1223, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-41490
https://doi.org/10.1115/IMECE2007-41490
View Paper titled, Design and Control of the Planar Bipedal Robot ERNIE
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Topics: Design, Robots, Knee, Stability, Actuators, Dynamics (Mechanics), Optimization, Springs
Proceedings Papers

Using Parallel Joint Compliance to Reduce the Cost of Walking in a Planar Bipedal Robot

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T. Yang, E. R. Westervelt, J. P. Schmiedeler
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1225-1231, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-41491
https://doi.org/10.1115/IMECE2007-41491
View Paper titled, Using Parallel Joint Compliance to Reduce the Cost of Walking in a Planar Bipedal Robot
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Topics: Robots, Springs, Design, Knee
Journal Articles

A Low-Dimensional Sagittal-Plane Forward-Dynamic Model for Asymmetric Gait and Its Application to Study the Gait of Transtibial Prosthesis Users

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S. Srinivasan, E. R. Westervelt, A. H. Hansen
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research Papers
J Biomech Eng. March 2009, 131(3): 031003.
https://doi.org/10.1115/1.3002757
Published Online: January 5, 2009
View Articletitled, A Low-Dimensional Sagittal-Plane Forward-Dynamic Model for Asymmetric Gait and Its Application to Study the Gait of Transtibial Prosthesis Users
Open the PDF for A Low-Dimensional Sagittal-Plane Forward-Dynamic Model for Asymmetric Gait and Its Application to Study the Gait of Transtibial Prosthesis Users in another window
Topics: Artificial limbs, Prostheses, Torque, Shapes, Modeling
Journal Articles

Low-Dimensional Sagittal Plane Model of Normal Human Walking

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S. Srinivasan, I. A. Raptis, E. R. Westervelt
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research Papers
J Biomech Eng. October 2008, 130(5): 051017.
https://doi.org/10.1115/1.2970058
Published Online: September 19, 2008
View Articletitled, Low-Dimensional Sagittal Plane Model of Normal Human Walking
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Topics: Cycles, Dynamics (Mechanics), Modeling, Poincaré maps, Shapes, Stability, Robotics, Simulation, Limit cycles, Gait analysis
Journal Articles

Design and Analysis of a Class of Planar Biped Robots Mechanically Coordinated by a Single Degree of Freedom

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J. McKendry, B. Brown, E. R. Westervelt, J. P. Schmiedeler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102302.
https://doi.org/10.1115/1.2965609
Published Online: August 21, 2008
View Articletitled, Design and Analysis of a Class of Planar Biped Robots Mechanically Coordinated by a Single Degree of Freedom
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Topics: Design, Kinematics, Robots, Optimization, Simulation
Proceedings Papers

Variable Transmission Compliance With an MR Damper

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E. R. Westervelt, J. P. Schmiedeler, G. Washington
Proc. ASME. IMECE2004, Aerospace, 241-246, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-62046
https://doi.org/10.1115/IMECE2004-62046
View Paper titled, Variable Transmission Compliance With an MR Damper
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Topics: Dampers, Actuators, Stress, Design, Damping, Filtration, Force control, Magnetic fields, Position control, Robotics