Fig. 3
Control diagram of the robot. Com1, Com2: Control Computers; Ctrl1: MTS controller; Ctrl2: 2xMaxon Motor controllers; Ax: axial actuator; IS: inferior–superior actuator, AP: anterior–posterior actuator, M1, M2: rotatory motors.

Control diagram of the robot. Com1, Com2: Control Computers; Ctrl1: MTS controller; Ctrl2: 2xMaxon Motor controllers; Ax: axial actuator; IS: inferior–superior actuator, AP: anterior–posterior actuator, M1, M2: rotatory motors.

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