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The correct title of this article is gaitControl. The initial letter is shown capitalized due to technical restrictions.

Authors: Sarah Dégallier and Ludovic Righetti

This module will allow the iCub to crawl and sit.

Back to iCub YARP module specifications

Compiler & Linker Dependencies

Include files

Not defined yet


Gnu Scientific Library

Run-time Dependencies

Module arguments


Ports accessed

Ports that are assumed to exist prior to instantiation of the module (i.e. some other module must create them)

Both arms, legs and torso. We will certainly command directly with the motor control device interfaces without passing through ports.

Ports created

Ports that are instantiated by the module and are then available for other modules to use (using yarp connect)

Input data files

To be defined

Output data files

To be defined

Configuration files

To be defined

User interface mechanism

Run-time modification of module parameters To be defined

OS on which the module was developed

Linux - Not completely developed

OS on which the module was tested

We will test it on windows

Operating system dependencies


Example instantiation of the module

Run & port connection commands To be done

iCub Capabilities

iCub capability code

C19 Gait Control

Other Yarp modules required to effect this capability

None (for the moment)

Example instantiation

To be done

Back to iCub YARP module specifications