This project implement the framework for multicontact locomotion planning proposed in the loco-3d project. This framework decompose the global locomotion problem in several subproblems solved ...
In the first stage, an Arduino Mega 2560 programmed in C++ is used to implement manual open-loop actuation of pneumatic valves. Each valve is driven by a Pulse Width Modulation (PWM) signal whose duty ...
Locomotion involves many different muscles and the need of controlling several degrees of freedom. Despite the Central Nervous System can finely control the contraction of individual muscles, emerging ...
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