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