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====== Robotics ====== **Author**: Guoping Zhao, Lauflabor (www.lauflabor.de), TU Darmstadt, Germany **Date**: July, 2019 ---- {{:guro_virtual_model.png?210|}} {{:guro_picture_sim_real.png?500|}} This is a tutorial for implementing neuromuscular reflex based control for a hopping robot. It includes two parts: - [[Neuromuscular modeling]] - [[Realtime control of the hopping robot GURO]] In the [[Neuromuscular modeling]] part, we first introduce Hill-type muscle dynamics. Then we will demonstrate how to build the neuromuscular model in simulation. In the [[Realtime control of the hopping robot GURO]] part, we will first demonstrate how to setup a realtime control system with Matlab xPC toolbox. Then we will introduce the hopping robot GURO and demonstrate the neuromuscular reflex control with the robot.