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Videos:

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Below are some simple demo videos of different compliant behaviours.  You can also see a longer video of a simple walking robot with in-built stepping reflexes here.
Zero Force (AVI)
The actuator is set to produce zero force and behaves totally compliantly, making the motor and gearbox impedance dissapear.
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Equilibrium Point control (AVI)
A simple set of virtual springs are defined to hold the output at an equilibrium point.  This point can then be shifted to produce compliant actuation.
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Sprung End Stop 1 (No Damping) (AVI)
A system with springs defined at each end of the range of travel and a zero force zone in the centre.
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Sprung End Stop 2 (Negative Damping) (AVI)
The same as above but with a negative damping value.  Negative damping produces effects similar to the removal of certain friction elements within the system.  With high levels of negative damping the system will amplify any pertubations.
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Hysteresis (AVI)
An example of Hysteresis or latching behaviour using two profile groups with angular thresholds.  When the system crosses a pre defined threshold in one profile group it will swap to the alternate group where a different threshold applies.  If this new threshold is crossed the system will return to the original profile group.
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Pinball (AVI)
An example of multiple damping and force profiles to produce a reactive 'pinball' flipper.
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Various types of damping:
The following six videos show the same linear spring system, configured to apply at one end of the actuators range of motion, with various levels of uniform damping applied, starting with a negative value and moving to positive values.  The actuator has a lever with a weight on it and this is dropped against the virtual spring.
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Negative Damping value of -2.0
Damping -2 (WMV)
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Positive Damping Value of 1.0
Damping 1 (WMV)
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Positive Damping Value of 2.0
Damping 2 (WMV)
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Positive Damping Value of 4.0
Damping 4 (WMV)
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Positive Damping Value of 8.0
Damping 8 (WMV)
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Positive Damping Value of 12.0
Damping 12 (WMV)
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Configuring the actuator:
Using the GUI to download an oscillator configuration file to the actuator:
Oscillator (WMV)
This shows how the GUI can be used to download a file and then plot the trajectory of the actuator on the force surfaces that make up the oscillator.
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Using the GUI to download a damped compliant joint configuration file to the actuator:
Compliant Joint (WMV)
This shows how the GUI plotting the trajectory of the joint as it is deflected and released, and shows how the actual actuator behaves.
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Using the GUI to configure two actuators to communicate with each other.
Slave Control (WMV)
This uses a pair of actuators, one works as a position controlled device with strong, damped, springs and the other has no springs and just sends its angle to control the angle of the other actuator.
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Configuring non-linear springs, dampers and setting angle thresholds.
Configuring (WMV)
This illustrates how you can 'draw' weird non-linear springs and dampers with the mouse, and how you can set thresholds for things like the angle so the actuator will switch between different sets of spring dampers (profile groups) when the thresholds are passed.
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