This is my documentation on working through Dr. Grizzle’s book, “Feedback Control of Dynamic Bipedal Robot Locomotion”. My goal is to reduce this book into a more manageable form that I can look over quickly in the future. I am following the “Graduate Student” program listed in Appendix A: Getting Started. Hopefully it helps some readers in the future when thinking about how to implement locomotion controllers of bipedal robots.

The following is the “Table of Contents” that are generated from this documentation.

1. Lagrange’s Method for Equations of Motion

Last Updated: 2018/07/08