Nature research paper: Multi-environment robotic transitions through adaptive morphogenesis
, Left to right: commanded and actual encoder positions, angular velocity, and amperage for front-right shoulder joint. The solid line is the actual achieved position. Line colour and legend symbols match those of Fig., Representative data from motion capture of back-left distal tip of limb during creep gait. Spikes in Z correspond to the limb swinging out, whereas the other portions are the pivot or where the limb serves only to balance the robot.
Extended Data Fig. 9 Representative data from front-right shoulder joint for crawl gaits across the three substrates. Top row gives a robot schematic with superimposed trajectory. Second row gives commanded and actual encoder positions, where the solid line is the actual achieved position. Third row plots the angular velocity. Fourth row is the amperage. Line colour and legend symbols match those of Fig.
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