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Biped Realtime Torque Walk

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Uploaded on Nov 20, 2011

Experimenting with a realtime walk using a Task script on the CM-510. Leg servo torque is used to attempt to balance, shift the body weight, and take a step at the correct moment. Upper body servos are set to be spring like to help cushion the motion. I'm currently migrating the code over to Python for a more easy development environment.

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