sixaxff (six axis force-feedback) ================================= Note, sixaxff is still under development and is not yet fully functional. Provides provides hard real-time control of dynamically scaled two winged flapping robotic model w/ force (or torque) feedback around two axes. Designed for studying the dynamics of flapping flight. More specifically this software controls a two wing robot where each wing of the robot has 3 degrees of freedom and can be programed to track arbitrary kinematics. During a kinematic outscan the forces and moments are measured using a six axis sensor. The measured forces and moments are used for force feedback with repect to two of the robots axes via a dynamic model. sixaxff consists of two main components * sixaxff: a shared library providing RTAI based hard real-time control of a dynamically scaled two wing flapping robotic model w/ force feedback. * py_sixaxff: a python ctypes wrapper providing access to the sixaxff library from python. Installation * Installation instructions can be found in the INSTALL file. Author * Will Dickson <email@example.com> sixaxff may be freely distributed and modified in accordance with the GNU Lesser General Public License.