The main advances during this period concerned the experimental part of the project and more specifically the calibration part. In the first part of the project, all the tests have been performed using the commercial Adept controller of the Quattro robot. In order to implement the new complete kinematic models that will be used in simulation, the development controller has to be opened.  

A common session between the different partners was then held at Lirmm facilities in order to make the first tests with the models that have been translated from Matlab to C. After preliminary validation tests, a first series of measurements was performed in the new development environment.