Biorobotics Laboratory BioRob

Salamander with low limb friction, without feedback

Unfortunately this movie is not yet available in a format compatible with recent browsers, and Flash Player is not available or is disabled.. You can try enabling Flash Player in your browser, or as an alternative, you can download the movie (see below) for local viewing with your favorite video player.

João Silvério - Biorob - 2011



The robot limbs should slow down during the stance phase. In the openloop controller, the best angles for the start and stop of the stance phase have been determined on some flat terrain. Running the same controller with lower limb friction without adjusting the stance phase angles leads to bad performance.