This projects implements a robotic control strategy and complementary neuro-based controller, that can be applied to robotic systems to automatically extract the eigenfrequency of a mechanical system and drive the system along this mode in an energy efficient manner.
This repository is divided into 3 parts:
-
two template projects to run in the NRP incorporating
- a model of the 2-joint myoarm driven by a robotic controller
- a model of a simple 2-joint hopper driven by a spinal chord modal
-
A Technical Documentation giving details about the theoretical background of the applied controllers
-
A User Documentation explaining how to use the template experiments in the NRP A short How-To explanation can also be found in the ReadMe of each of the template projects.