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Develop tools for the simulation of humanoid robot movement and actuation.

The purpose of this project is to provide tools for the simulation of human-like robot movement. Tools include: foot-ground contact models, actuation systems, analyses to determine the forces and moments the robot motors have to develop during a specific movement. These can provide a platform to study beforehand how the robot would respond to a specific change in its structure or in its actuation and control systems. The study of human-like robots actuated by artificial muscles will be also carried out.