Author: Guoping Zhao, Lauflabor (www.lauflabor.de), TU Darmstadt, Germany
Date: July, 2019
This is a tutorial for implementing neuromuscular reflex based control for a hopping robot. It includes two parts:
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.