Dynamic walking with Dribbel

Edwin Christian Dertien, Stefano Stramigioli (Editor), S. Stramigioli (Editor)

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    23 Citations (Scopus)
    105 Downloads (Pure)


    This paper describes the design and construction of Dribbel, a passivity-based walking robot. Dribbel has been designed and built at the Control Engineering group of the University of Twente. This paper focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, is discussed.
    Original languageUndefined
    Pages (from-to)118-121
    Number of pages4
    JournalIEEE robotics & automation magazine
    Issue number3
    Publication statusPublished - Sep 2006


    • EWI-9368
    • METIS-238295
    • IR-57673

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