Tutorials and Examples

You can download the latest version of the tutorial resources here.

Introductory Tutorials

1. SCONE Basics
a. Running an Optimization
b. Using the 3D Viewer
c. Analyzing the Results
2. Standing High Jump
a. Piece-Wise Linear Control
b. Polynomial Control
c. Jumping with a Straight Upper Body
d. Jumping with Knees Up

Intermediate Tutorials

3. Standing Balance
a. Reflex Control
b. Applying Motor Noise
c. External Perturbations
4. Healthy Gait
a. Controller [Geyer & Herr 2010]
b. Target Speed
c. External Perturbations
d. Walking on Ice

Advanced Tutorials

5. Pathological Gait
a. Weak Plantarflexors
b. Short Hamstrings
c. Spasticity
  • by tgeijten