Author: Guoping Zhao, Lauflabor (www.lauflabor.de), TU Darmstadt, Germany

Date: July, 2019

We implemented the neuromuscular reflex based controller (virtual model control) on GURO. The controller is implemented with Matlab simulink realtime toolbox and executed on the xPC target machine at 1kHz. Here's the hopping control scheme.

Similar as the findings from the simulation studies, the robot can achieve stable and robust hopping with force feedback.