Oncilla Interface

Following the abstractions of the Robot Control Interface (RCI), the Oncilla robot is modeled by a set of specific Resource Nodes:

• Oncilla Trunk – representing the robot’s trunk
• Oncilla L0 – representing the adduction-abduction scapula joint
• Oncilla L1 and L2 – representing the protraction-retraction hip joint and the flexion-extension knee joint
• l3
• Oncilla L4 – representing the foot of the robot