CrawlingiCub

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More detailed concept

Possible usage scenarios

We consider several possible applications/testing scenarii :

  • crawling on the floor with limited degrees of freedom ("2D" planar motion)
  • walking
  • climbing the stairs

The existing Central Pattern Generator

Available parameters

The parameters we can tweak are the CPG's parameters but also the simulated stiffness and damping of iCub's joints.

Performance indices

Also say how they are to be measured