Controlling the movement of complex robots and human models is challenging. I developed a step-by-step tutorial and software framework enabling inexperienced users of OpenSim to create their own custom controllers for their own robot and human models. Several OpenSim users and developers expressed strong appreciation for the simplicity and effectiveness of this tutorial in teaching non-programmers how to write their own controllers.
See the main source code and documentation, without model or data files, here. The source code for the robot/human controller framework is distributed as part of the API examples in OpenSim, a freely downloadable software package for simulating robots and humans. See the links below for slides and web pages containing the example source code.