0 a motor that provides the power for a servomechanism
The software also maps the stick-slip-slide friction model mentioned above to the servomotor for lateral motion.
Another servomotor along with a spur gear could rotate the weights, thus, influencing the offset mass system.
These values correspond to the maximum velocities obtainable for each servomotor in either rotating direction.
Displacement of joint angles can be measured when encoders are attached to the servomotor.
This actuator (servomotor with gear reducers) rotated the leg to the desired angle at touchdown and take-off events.
Because the vibration can be applied to the servomotor independent of the friction model, both can be studied and tuned separately.
Additions to the software will include improvements to the multi-threading of encoder reading, real-time audio output, and servomotor control.
In general, commercially available servomotor drives can be operated in three different modes - position, velocity and torque.