FSofSG(TR,alpha)- Features surfaces of SG
FSofSG(TR,alpha) % FSofSG(TR,alpha) - Features surfaces of SG
% (by Tim Lueth, VLFL-Lib, 2017-JUL-09 as class: SURFACES)
%
% This fnctn can take several seconds to classify all OPEN surfaces of a
% solid by using TR3neighborsAngle and neighborsAngleSurface.
% When called without output parameter; drawing the surfaces take the
% most time.
% SGsurfaces returns CLOSED surfaces (Status of: 2017-07-09)
%
% Introduced first in SolidGeometry 4.0
%
% See also: surfacesofSG
%
% FIL=FSofSG(TR,[alpha])
% === INPUT PARAMETERS ===
% TR: Solid Geometry or Triangulation
% alpha: maximum angle difference between two facets; default is 1 ~ 60
% degree
% === OUTPUT RESULTS ======
% FIL: Index List for the Surface Indices
%
% EXAMPLE:
% load JACO_robot.mat
% surfacesofSG(JC3);
%
% See also: surfacesofSG
%
VLmeshgrid(xx,yy,zz)- simple function for a better understand of meshgrid
VLmeshgrid(xx,yy,zz) % VLmeshgrid(xx,yy,zz) - simple fnctn for a better understand of meshgrid
% (by Tim Lueth, VLFL-Lib, 2017-JUL-09 as class: AUXILIARY PROCEDURES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: CPLofmeshgrid(X, Y), PLmeshgrid
%
% VL=VLmeshgrid(xx,yy,[zz])
% === INPUT PARAMETERS ===
% xx: list of x values
% yy: list of y values
% zz: list of y values;
% === OUTPUT RESULTS ======
% VL: Point list of all mesh coordinates
%
% EXAMPLE:
% VLmeshgrid(1:3,1:2,10)
% VLmeshgrid([0 15 25 35 45 55 65],0:8:8*22,[10 20])
%
% See also: CPLofmeshgrid(X, Y), PLmeshgrid
%
VLedgeNormal(VL,ez)- returns the normal vector to vertex edge list
VLedgeNormal(VL,ez) % VLedgeNormal(VL,ez) - returns the normal vector to vertex edge list
% (by Tim Lueth, VLFL-Lib, 2017-JUL-09 as class: EDGE LISTS)
%
% It does not support nan separted vertex lists (CVL) yet. The normal is
% NaN for the first point or the given ez. The normal is NaN for the
% lastpoint. The normal is NaN for all straight points. In case of
% switching normals; the orientation of the succeeding normal will be
% fliped. (Status of: 2017-07-09)
%
% Introduced first in SolidGeometry 4.0
%
% See also: VLFLfaceNormal, edgeNormal, CPLedgeNormal
%
% [NL,AL]=VLedgeNormal(VL,[ez])
% === INPUT PARAMETERS ===
% VL: Vertex list of succeeding vertices
% ez: optional first normal vector; default is normal of facet [1 2 3]
% === OUTPUT RESULTS ======
% NL: Normal vector; NaN if A(i)=0;
% AL: area vector; if straight, A(i)=0;
%
% EXAMPLE:
% VL=VLsample(12); VL=[VL;VL(1:2,:)]; VLedgeNormal(VL)
% VLedgeNormal(PLhelix(10,10,4*pi))
% VLedgeNormal(VLsample(9))
%
%
% See also: VLFLfaceNormal, edgeNormal, CPLedgeNormal
%
PLmeshgrid(xx,yy)- simple function for a better understand of meshgrid
PLmeshgrid(xx,yy) % PLmeshgrid(xx,yy) - simple fnctn for a better understand of meshgrid
% (by Tim Lueth, VLFL-Lib, 2017-JUL-08 as class: AUXILIARY PROCEDURES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: VLmeshgrid, CPLofmeshgrid(X, Y)
%
% PL=PLmeshgrid(xx,yy)
% === INPUT PARAMETERS ===
% xx: list of x values
% yy: list of y values
% === OUTPUT RESULTS ======
% PL: Point list of all mesh coordinates
%
% EXAMPLE:
% PLmeshgrid(1:3,1:2)
% PLmeshgrid([0 15 25 35 45 55 65],0:8:8*22)
%
% See also: VLmeshgrid, CPLofmeshgrid(X, Y)
%
SGgrowFS (SG,t)- grows the feature surfaces of a solid
SGgrowFS (SG,t) % SGgrowFS (SG,t) - grows the feature surfaces of a solid
% (by Tim Lueth, VLFL-Lib, 2017-JUL-08 as class: SURFACES)
%
% The feature surfaces are calculated (default value is 1 rad/60 degree).
% Afterwards it is analyzed wich facets show inside of the solid an which
% show outside. Only inside or outside are processed here. Use SGgrow for
% processing all. At the border between outside and inside, the vertices
% that belong to both (inside, outside) stay unchanged. The vertices that
% define the border of the new outside surfaces are not moved along the
% vertex normal vector but along the normal vector of the border contour!
% Attention: Be aware that concave surface cannot be grown without
% self-penetration. (Status of: 2017-07-08)
%
% Introduced first in SolidGeometry 4.0
%
% See also: SGgrowFS, SGgrow
%
% SGgrowFS(SG,[t])
% === INPUT PARAMETERS ===
% SG: Solid Geometry
% t: Increase/Decrease Value along the vertex normal vector
%
% EXAMPLE:
% load JACO_robot.mat % use loadweb if the file need to be aquired
% SG=SGseparate(JC3,3)
% SGgrowFS(SG,10)
%
% See also: SGgrowFS, SGgrow
%
clipboardrem(maxc)- removes comment characters from the clipboard
clipboardrem(maxc) % clipboardrem(maxc) - removes comment characters from the clipboard
% (by Tim Lueth, FileMaker, 2017-JUL-07 as class: AUXILIARY PROCEDURES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: clipboardadd
%
% C=clipboardrem([maxc])
% === INPUT PARAMETERS ===
% maxc:
% === OUTPUT RESULTS ======
% C:
%
% See also: clipboardadd
%
clipboardadd(maxc)- adds comment characters from the clipboard
clipboardadd(maxc) % clipboardadd(maxc) - adds comment characters from the clipboard
% (by Tim Lueth, VLFL-Lib, 2017-JUL-07 as class: AUXILIARY PROCEDURES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: clipboardrem
%
% C=clipboardadd([maxc])
% === INPUT PARAMETERS ===
% maxc:
% === OUTPUT RESULTS ======
% C:
%
% See also: clipboardrem
%
surfacesofSG(TR,alpha);- returns all OPEN surfaces that have a limited angle between their normal vectors
surfacesofSG(TR,alpha); % surfacesofSG(TR,alpha); - returns all OPEN surfaces that have a limited angle between their normal vectors
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: SURFACES)
%
% This fnctn can take several seconds to classify all OPEN surfaces of a
% solid by using TR3neighborsAngle and neighborsAngleSurface.
% When called without output parameter; drawing the surfaces take the
% most time.
% SGsurfaces returns CLOSED surfaces (Status of: 2017-07-07)
%
% Introduced first in SolidGeometry 4.0
%
% See also: neighborsAngleSurface, TR3neighborsAngle, SGsurfaces
%
% [FIL,k,FNL,NAL,NBL,Ai]=surfacesofSG(TR,[alpha]);
% === INPUT PARAMETERS ===
% TR: Solid Geometry or Triangulation
% alpha: maximum angle difference between two facets; default is 1 ~ 60
% degree
% === OUTPUT RESULTS ======
% FIL: Index List for the Surface Indices
% k: maximum value of FIL
% FNL: Facet Normal List - TR3neighborsAngle
% NAL: Neigbor Angle List - TR3neighborsAngle
% NBL: Neigbor List - TR3neighborsAngle
% Ai: Area of the indexed surfaces 1:k
%
% EXAMPLE:
% load JACO_robot.mat
% surfacesofSG(JC3);
%
% See also: neighborsAngleSurface, TR3neighborsAngle, SGsurfaces
%
LaserInit- Initializes the USB-Serial Port and Requests Data from the Leuze Scanner
LaserInit % LaserInit - Initializes the USB-Serial Port and Requests Data from the Leuze Scanner
% (by Tim Lueth & Sebastian Heininger, ROBOT-Lib, 2017-JUL-06)
%
% This is just an example how to use the Leuze Laser Scanner at the mac
% computer. (Status of: 2017-07-06)
%
% Introduced first in SolidGeometry 4.0
%
% See also: USBhelp
%
% LaserInit
%
% See also: USBhelp
%
SGinsideSurface(SG,fnum,wlim,ilim)- Checks the distance between the centers of the facets
SGinsideSurface(SG,fnum,wlim,ilim) % SGinsideSurface(SG,fnum,wlim,ilim) - Checks the distance between the centers of the facets
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: EXPERIMENTS)
%
% The fnctns SGcheckfacedist and SGinsidesurface are very similar. Both
% ray trace the normal vector of a facet and detect self-penetration of
% other facets. While SGcheckfacedist looks backwards, SGinsideSurface
% looks forward along the normal vector. The only problem is the extreme
% time-consuming quadratic growing effort.
% In SGcheckfacedist there is almost never a need to process the original
% data. But for SGinsidesurface there is wish to process the original
% data. There we use a heuristics to accelerate the algorithm. First we
% analyze freeeform surfaces using surfacesofSG, the we analyze just for
% each of those surfaces ONE surface to have an opponent. (Status of:
% 2017-07-07)
%
% Introduced first in SolidGeometry 4.0
%
% See also: SGcheckfacedist, SGinsidesurface, surfacesofSG
%
% [FIL,insFS]=SGinsideSurface(SG,[fnum,wlim,ilim])
% === INPUT PARAMETERS ===
% SG: Solid Geometry
% fnum: reduce to face numbers; default is 3000;
% wlim: warning limit; default is 0.7 mm
% ilim: intended limit; distance that is considered as intended; default
% is 0.1mm
% === OUTPUT RESULTS ======
% FIL: Facet surface index list
% insFS: inside index of feature surface
%
% EXAMPLE:
% load JACO_robot.mat
% SG=SGsurfaces(JC3,3)
% SGinsideSurface(SG)
%
% See also: SGcheckfacedist, SGinsidesurface, surfacesofSG
%
diffangle(NL1,NL2,normfirst)- calculates the angle between to normal vector lists
diffangle(NL1,NL2,normfirst) % diffangle(NL1,NL2,normfirst) - calculates the angle between to normal vector lists
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: ANALYTICAL GEOMETRY)
%
% optimal for list processing. if normalization is required, the time is
% about doubled (Status of: 2017-07-06)
%
% Introduced first in SolidGeometry 4.0
%
% See also: TR3neighborsAngle
%
% AL=diffangle(NL1,NL2,[normfirst])
% === INPUT PARAMETERS ===
% NL1: normal vector lists 1
% NL2: normal vector lists 2
% normfirst: if true; VLnorm is sued to norm the vectors first;
% === OUTPUT RESULTS ======
% AL: real(acos(dot(NL1(i,:),NL2(i,1))))
%
% EXAMPLE: NL1=rand(10,3); NL2=rand(10,3);
%
%
% See also: TR3neighborsAngle
%
SGcheckfacedist(SG,fnum,wlim,ilim)- Checks the distance between the centers of the facets
SGcheckfacedist(SG,fnum,wlim,ilim) % SGcheckfacedist(SG,fnum,wlim,ilim) - Checks the distance between the centers of the facets
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: EXPERIMENTS)
%
% Important test procedure for shrinked models and imported geometries.
% Attention: Some geometries consist of intended overlapping structures
% Attention: Some geometries consist of open surfaces (Status of:
% 2017-07-06)
%
% Introduced first in SolidGeometry 4.0
%
% See also: exp_2017_07_06
%
% [ml,cpl]=SGcheckfacedist(SG,[fnum,wlim,ilim])
% === INPUT PARAMETERS ===
% SG: Solid Geometry
% fnum: reduce to face numbers; default is 3000;
% wlim: warning limit; default is 0.7 mm
% ilim: intended limit; distance that is considered as intended; default
% is 0.1mm
% === OUTPUT RESULTS ======
% ml: complete list of distances
% cpl: complete list of cross points
%
% See also: exp_2017_07_06
%
VLFLofSGT(SGN,N)- returns the VL and FL of the surface related to a fram
VLFLofSGT(SGN,N) % VLFLofSGT(SGN,N) - returns the VL and FL of the surface related to a fram
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: SURFACES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: CVLofVLFL
%
% [VL,FL]=VLFLofSGT(SGN,N)
% === INPUT PARAMETERS ===
% SGN: Solid with Frames
% N: Name of Frames
% === OUTPUT RESULTS ======
% VL: Vertex list; shortend
% FL: FAcet list; shortend
%
% EXAMPLE:
% loadweb JACO_robot.mat
% VLFLofSGT(JC0,'B');
%
% See also: CVLofVLFL
%
CVLofVLFL()- does the same as CVLfreeBoundaryVLFL
CVLofVLFL() % CVLofVLFL() - does the same as CVLfreeBoundaryVLFL
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: SURFACES)
%
% =======================================================================
% OBSOLETE (2017-07-06) - USE FAMILY 'CVLfreeBoundaryVLFL' INSTEAD
% =======================================================================
%
% Introduced first in SolidGeometry 4.0
%
% See also: [ CVLfreeBoundaryVLFL ] ; VLFLofSGT
%
% [CVL,TR]=CVLofVLFL([])
% === OUTPUT RESULTS ======
% CVL:
% TR:
%
% See also: [ CVLfreeBoundaryVLFL ] ; VLFLofSGT
%
CVLofSGT(SGN,N)- returns the CVL of the surface that belongs to a Frame
CVLofSGT(SGN,N) % CVLofSGT(SGN,N) - returns the CVL of the surface that belongs to a Frame
% (by Tim Lueth, VLFL-Lib, 2017-JUL-06 as class: SURFACES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: VLFLofSGT
%
% CVL=CVLofSGT(SGN,N)
% === INPUT PARAMETERS ===
% SGN: Solid Geometry with Frames
% N: Frame name
% === OUTPUT RESULTS ======
% CVL: Convtour Vertex List
%
% EXAMPLE: loadweb JACO_robot.mat
% CVLofSGT(JC1,'F');
%
% See also: VLFLofSGT
%
SGofsmbFullModelSimulation(SGi,Ti,tm,t)- returns a solid geometry for an arbitrary time value of a simulation
SGofsmbFullModelSimulation(SGi,Ti,tm,t) % SGofsmbFullModelSimulation(SGi,Ti,tm,t) - returns a solid geometry for an arbitrary time value of a simulation
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: SIMMECHANICS INTERFACE)
%
% This fnctn is an add on to smbFullModelSimulation (Status of:
% 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% See also: smbFullModelSimulation
%
% [SG,t]=SGofsmbFullModelSimulation(SGi,Ti,tm,t)
% === INPUT PARAMETERS ===
% SGi: List of Solid Geometries, result of smbFullModelSimulation
% Ti: List of HT Frames, result of smbFullModelSimulation
% tm: List of time points result of smbFullModelSimulation
% t: desired time
% === OUTPUT RESULTS ======
% SG: Solid Geoemtry
% t: Exact time of simulation
%
% EXAMPLE:
% [~,BNi,SGi,Ti,tm]=smbFullModelSimulation(1);
% SGofsmbFullModelSimulation(SGi,Ti,tm,0);
%
% See also: smbFullModelSimulation
%
SGgrabcad- Simply opens the WWW-page of grabcad.com in the system browser
SGgrabcad % SGgrabcad - Simply opens the WWW-page of grabcad.com in the system browser
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: AUXILIARY PROCEDURES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: SG_DBconnectors.mat, SG_Patientknee.mat
%
% SGgrabcad
%
% See also: SG_DBconnectors.mat, SG_Patientknee.mat
%
CVLfreeBoundaryVLFL(VL,FL)- returns the CVL of the free boundary
CVLfreeBoundaryVLFL(VL,FL) % CVLfreeBoundaryVLFL(VL,FL) - returns the CVL of the free boundary
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: SURFACES)
%
% Introduced first in SolidGeometry 4.0
%
% See also: freeBoundary, neighborsAngleSurface
%
% [CVL,TR2]=CVLfreeBoundaryVLFL(VL,FL)
% === INPUT PARAMETERS ===
% VL: Vertex List, or Solid Geometry, or triangulation
% FL: Facet list, if VL is Vertex list
% === OUTPUT RESULTS ======
% CVL: Closed vertex contour list
% TR2: triangulation
%
% EXAMPLE:
% loadweb JACO_robot.mat
% SG=JC61; [NAL,NBL]=TR3neighborsAngle(SG);
% fi=neighborsAngleSurface(NAL,NBL,1,22000);
% CVLfreeBoundary(SG.VL,SG.FL(fi,:))
%
% See also: freeBoundary, neighborsAngleSurface
%
ELunique(ELo)- returns a unique list of all edges
ELunique(ELo) % ELunique(ELo) - returns a unique list of all edges
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: EDGE LISTS)
%
% Makes sure that no edge is used twice!
% More or less the same as ELuniqueofFL but will not change the ordner
% and in case of doubles the direction of the first used edges is not
% changed. (Status of: 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% See also: ELuniqueofFL
%
% EL=ELunique(ELo)
% === INPUT PARAMETERS ===
% ELo: Edge List or Facet List
% === OUTPUT RESULTS ======
% EL: Edge list sorted by first vertex index
%
% EXAMPLE:
% EL=[2 1;2 3;4 5;1 2; 2 1; 3 4; 6 5; 5 1]; ELunique(EL)
%
% See also: ELuniqueofFL
%
graphofEL(EL,n)- creates an undirected graph model from an edge list
graphofEL(EL,n) % graphofEL(EL,n) - creates an undirected graph model from an edge list
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: EDGE LISTS)
%
% This is the first fnctn to analyze surface models using graph theory.
% It is extremely helpful to analyze the structures by this abstraction
% level.
% MATLAB supports since 2015b
% undirected "graphs" and
% directed "digraphs" (Status of: 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% See also: featureEdges
%
% G=graphofEL(EL,[n])
% === INPUT PARAMETERS ===
% EL: Edge list; must have unique entries!
% n: optional number of vertices
% === OUTPUT RESULTS ======
% G: MATLAB's Graph struct using Edges and Nodes
%
% EXAMPLE:
% EL=featureEdges(TR3ofSG(SGsample(25)),1)
% graphofEL(EL)
% graphofEL(featureEdges(TR3ofSG(SGsample(3)),1))
%
% See also: featureEdges
%
neighborsAngleSurface(NAL,NBL,alpha,fi)- returns connected facets with respect to a feature angle
neighborsAngleSurface(NAL,NBL,alpha,fi) % neighborsAngleSurface(NAL,NBL,alpha,fi) - returns connected facets with respect to a feature angle
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: SURFACES)
%
% The required parameter NAL,NBL are calculated using TR3neighborsAngle.
% Since TR3neighborsAngle can be slow, the fnctns are separated to
% accelerate the repeatet use of neighborsAngleSurface.
%
% (Status of: 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% See also: TR3neighborsAngle
%
% [fa,FCL]=neighborsAngleSurface(NAL,NBL,alpha,fi)
% === INPUT PARAMETERS ===
% NAL: =TR3neighborsAngle(TR3)
% NBL: =neighbors(TR3), also delivered by [NAL,NBL]=TR3neighborsAngle(TR3)
% alpha: feature angle
% fi: starting facet index (can be several)
% === OUTPUT RESULTS ======
% fa: facet index with respect to NAL,NBL of (TR3)
% FCL: Facet connection list; optional
%
% EXAMPLE:
% SG=SGsample(25);
% [NAL,NBL]=TR3neighborsAngle(SG); fi=neighborsAngleSurface(NAL,NBL,1,22);
% VLFLplot(SG.VL,SG.FL(fi,:))
%
% See also: TR3neighborsAngle
%
TR3featureEdges(TR3,alpha)- returns feature edge List plus edge attached facets
TR3featureEdges(TR3,alpha) % TR3featureEdges(TR3,alpha) - returns feature edge List plus edge attached facets
% (by Tim Lueth, VLFL-Lib, 2017-JUL-05 as class: SURFACES)
%
% Auxiliary fnctn as starting point:
% Simply calls featureEdges. It is not using edgeAttachments but an own
% solution
% (Status of: 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% [EL,Fi]=TR3featureEdges(TR3,alpha)
% === INPUT PARAMETERS ===
% TR3: Triangulation
% alpha: feature edge angle
% === OUTPUT RESULTS ======
% EL: Feature Edge List
% Fi: Index of TR3.ConnectivityList
%
% EXAMPLE:
% TR3featureEdges(SGsample(25),1)
%
TR3neighborsAngle(TR3)- returns the angle difference between a facet an its neigbors
TR3neighborsAngle(TR3) % TR3neighborsAngle(TR3) - returns the angle difference between a facet an its neigbors
% (by Tim Lueth, Video-Lib, 2017-JUL-04 as class: SURFACES)
%
% Calculated the difference angle between a surface and its neighbor
% surfaces.
% Typically used in combination with/to create the input for
% fnctn neighborsAngleSurface (Status of: 2017-07-05)
%
% Introduced first in SolidGeometry 4.0
%
% See also: neighborsAngleSurface, diffangle
%
% [NAL,NBL,FNL]=TR3neighborsAngle(TR3)
% === INPUT PARAMETERS ===
% TR3: Triangulation or SG
% === OUTPUT RESULTS ======
% NAL: Facet Normal Angle List wrt to NBL
% NBL: Neighbor List = neighbors(TR3)
% FNL: Facet normal List = faceNormal(TR3)
%
% See also: neighborsAngleSurface, diffangle
%
loadweb (mname,overwr,urlp)- loads mat files from an web url
loadweb (mname,overwr,urlp) % loadweb (mname,overwr,urlp) - loads mat files from an web url
% (by Tim Lueth, VLFL-Lib, 2017-JUL-03 as class: AUXILIARY PROCEDURES)
%
% This fnctn reduces the size of the SG-Lib Toolbox since the '.mat'
% files and the directories can be downloaded once into the user
% directory.
% if parameter overwr=false; the filename will be "downloaded_mname"
% if parameter overwr=true; the filename will be "mname"
% Try:
% 'AArrufo_surf.mat' (3.6 MByte)
% 'JACO_robot.mat' (6.1 MByte)
% 'AIM_SGrobot.mat' (0.1 MByte)
% 'AIM_Patientmodel.mat' ( 5MByte)
% 'ModulKegelradwelle_1.mat' (0.2 MByte) (Status of: 2017-07-03)
%
% Introduced first in SolidGeometry 4.0
%
% See also: load, webread
%
% loadweb(mname,[overwr,urlp])
% === INPUT PARAMETERS ===
% mname: name and extension of the file
% overwr: true=overwrite; default is false.
% urlp: web path; default is
% 'https://www.mw.tum.de/fileadmin/w00btx/mimed/Matlab_Toolboxes/'
%
% EXAMPLE:
% loadweb('JACO_robot.mat') % loads the downloaded file
% loadweb('JACO_robot.mat',true) % replaces the original file by the
% downloaded file
%
% See also: load, webread
%

Matlab API of the HEBI Robotics Modules

Matlab API Matlab Utilities

Some Videos on the HEBI Robotics Module Projects:

(Thanks to Florian Enner) HEBI YouTube channel Torque Reaction video Six Legs Walking Platform Inverted Pendulum Swing-Leg Controls Humanoid Igor (small) Tethered Hexapod Four Legs Walking Robot Quadruped