Tutorials

We have created tutorials to help you get started and will allow your Open-Source Leg to perform basic actions. Many of these tutorials are essential in controlling your OSL and some of the concepts covered are required in almost every OSL script. The basic tutorials include the following: Adding an Actuator, Adding a Loadcell, Reading from Sensors, and Using the OSL Clock. Once comfortable with these tutorials and how they work, you will be able to control the actuators with one of four control modes following these tutorials: Voltage, Current, Position, and/or Impedance. Then, compiled controllers can be created in any language and used with the OSL: Compiled Controller. All of these tutorials are included in the OSL library and can be modified or changed to your liking.

Examples

We have also created example scripts to demonstrate the OSL in action. These can be used to further understand the OSL library and to create your own scripts or controllers. We have created a Basic Motion Test Script which will move the joints in a periodic manner. This can be helpful as a first script when getting started or as a configuration script to ensure your OSL is working properly. We also have a Finite State Machine Example which can control the leg for walking. There are three implementations in three languages (Python, C++, and MATLAB) to show how you can develop in your preferred language and control the OSL.