-- AaronParness - 24 Aug 2005

Simulation results for static foot forces match well with the force plate data at small angles. Initializes force control at up to 80 percent (compared to 20 percent position control) also matches RiSE data well, and is stable at small angles. However, at inclines over 30 degrees, we see a departure in Simulation Data and Robot ForcePlate? data. Current work is underway to modify the geometric inputs of the simulation in order to more closely match the RiSE platform as well as efforts to compensate for and or include a tail feature that is consistent across robot and simulation.