Asset Details

Description:
Receiving a speed reference vref\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$v_{{ ref}}$$\end{document} of 0.65m/s\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$0.65\,\hbox {m}/\hbox {s}$$\end{document}, the robot walks with an initial heading reference href\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$h_{{ ref}}$$\end{document} of 0 (straight walking) before changing this command to -1\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$-\,1$$\end{document} (maximum left steering)

Credit:
Van der Noot, N., Ijspeert, A. J., & Ronsse, R. (2018). Neuromuscular model achieving speed control and steering with a 3D bipedal walker. Autonomous Robots, 43(6), 1537-1554. https://doi.org/10.1007/s10514-018-9814-6.