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Open-Source Leg

Tutorials

  • Getting Started
  • Adding an Actuator
  • Adding a Loadcell
  • Commanding Voltage
  • Commanding Current
  • Commanding Position
  • Commanding Impedance
  • Compiled Controllers
  • Using the OSL Clock
  • Reading from Sensors

Examples

  • Basic Motion Test Script
  • Finite State Machine Controller

API Reference

  • Open-Source Leg
  • Hardware
  • Control
  • Tools

Contributing

  • Reporting Bugs
  • Contributing Code
  • Code of Conduct
  • .rst

Getting Started

Getting Started#

There are a few concepts that almost every OSL script will reqiure. Before anything else, we suggest going through the following basic tutorials:

  • Adding an Actuator

  • Adding a Loadcell

  • Reading from Sensors

  • Using the OSL Clock

  • Commanding Current

Once you’re comfortable with these, you should be ready to tackle the rest of the Tutorials and the Examples.

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An open-source software library for numerical computation, data acquisition, and control of lower-limb robotic prostheses.

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Adding an Actuator

By Senthur Ayyappan, Kevin Best, Jace Derosia, and Prof. Elliott Rouse

© Copyright 2022, Open-Source Leg Project (https://opensourceleg.com), Michigan Robotics.