This content is from my master’s thesis (Sep 2018) named: Bio-inspired Robotic Torque Controller with Virtual Muscles and Cerebellar-like adaptations.
The thesis contains quite a few silly mistakes, eg. that it doesn’t mention that I graduated as a biomedical engineer, and a few things could be explained better. However, this is how it is and I learned a lot if nothing else 🙂
The following video is an early test of the controller following a sine-wave target trajectory using a pair of virtual agonist-antagonist hill-type muscles and a cerebellum-inspired neuromorphic system that learns how to control them