Tutorials

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Building a quadruped with center of mass postural control

The first series of tutorials will teach you to build a quadruped and center of mass controller. You don't need any prior knowledge of biomechanical modeling or experience with Neuromechanic. We try and keep the math light but it gets rather involved once we start building the controller (Episode 7).

  1. Build your first Neuromechanic model: a pendulum
  2. Extend the pendulum to three links and do an energy analysis
  3. Add muscles and choose an activation pattern that balances external forces on the pendulum
  4. Neural control of a three-link pendulum
  5. Programmatic construction of the three-link pendulum
  6. Extending the model to a quadruped
  7. Center of mass control of a quadruped

For a complete list of all tutorials go here