From 97e459e61e387c55d998ac8b5082fa72f7374589 Mon Sep 17 00:00:00 2001 From: dmarzoug Date: Wed, 13 Nov 2024 13:20:35 +0100 Subject: [PATCH] [brittle-star] updated README --- biorobot/brittle_star/README.md | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/biorobot/brittle_star/README.md b/biorobot/brittle_star/README.md index 93a554a..7b2dd6d 100644 --- a/biorobot/brittle_star/README.md +++ b/biorobot/brittle_star/README.md @@ -165,6 +165,11 @@ Two example in-silico brittle star morphologies. Every segment has two degrees of freedom (DoF), one for in-plane motion and one for out-of-plane motion. +In terms of actuation, the morphology specification can be used to select either position based control, and torque +based control. +The morphology specification can also be used to use tendon-based transmission (but only with torque based control). In +this case, four tendons will be added, similar to the muscle architecture of the brittle star as shown above. + In terms of sensing, the following sensors are implemented. These sensors define the base set of observations that every brittle star environment returns as observations (further discussed below). @@ -172,7 +177,9 @@ brittle star environment returns as observations (further discussed below). - Joint positions (two per segment, in-plane and out-of-plane, in radians) - Joint velocities (two per segment, in-plane and out-of-plane, in radians / second) - Joint actuator force (i.e. the total actuator force acting on a joint, in Newton meters) (two per segment) - - Actuator force (the scalar actuator force, in Newtons) (two per segment) + - Actuator force (the scalar actuator force, in Newtons) (four per segment in case of tendon transmission, otherwise two) + - Tendon position (in case tendon transmission is used, four per segment, in meters) + - Tendon velocity (in case tendon transmission is used, four per segment, in meters / second) - Central disk's position (w.r.t. world frame) - Central disk's rotation (w.r.t. world frame, in radians) - Central disk's velocity (w.r.t. world frame, in m/s)