Not enough bandwitdth for feedback control

ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O

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Closed FrancescoRuscelli closed 10 months ago

FrancescoRuscelli commented 5 years ago

Even the fast filter (5 Hz) causes instabilities with feedback control (ComStabilizer). I suggest to create an empty profile filter

alaurenzi commented 5 years ago

I'll add that setting an extremely high cutoff (200 Hz) solves any problem.

liesrock commented 5 years ago

I would prefer to have another profile with extremely high cutoff frequency: what do you think @alaurenzi ?

alaurenzi commented 5 years ago

Yes, we can introduce a filter_profile_none with 200Hz cutoff

liesrock commented 10 months ago

This was solved by @alaurenzi