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. 2018 Jun 14;5:51. doi: 10.3389/frobt.2018.00051

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Copyright © 2018 Barasuol, Villarreal-Magana, Sangiah, Frigerio, Baker, Morgan, Medrano-Cerda, Caldwell and Semini

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Pictures of the experimental setups of the smart manifold and the ISA v5: (A) Smart manifold mounted on custom made rotary actuator driving a wheel; (B) ISA v5 driving the knee joint of a HyQ-REAL leg.