EnricoMingo commented 6 years ago

17/10/2018 Current status is:

relative Cartesian impedance tasks from waist to feet (using fixed_base model), Gains are 6000, 10 (orientation control is scaled by 0.25), Joint impedance @ 1
no dynamic terms compensation (h)
no forza giusta
friction compensation 0.8 (not ankles), gains: 10, 0.004
video!

@alaurenzi @matteoparigi @FrancescoRuscelli

EnricoMingo commented 6 years ago

18/10/2018 TO DO:

[ ] - Dynamic term compensation slider, gravity only?
[x] - Change stack to control LFoot wrt Right foot and waist wrt RFoot: was basically impossible to find gains to make the controller stable, we decided to do not follow this path
[x] - Check waist motion using CartesI/O for vibration: using the floating base model again is very difficult to find appropriate gains. We did the test using the fixed base model. RESULTS: the robot does not vibrate.

NOTICE: that in simulation the relative controllers in fixed/floating base works

@alaurenzi @matteoparigi @FrancescoRuscelli

dbdxnuliba commented 4 years ago

where can I find JointImpedanceCtrl.cpp

include <OpenSoT/tasks/torque/JointImpedanceCtrl.h>

ADVRHumanoids / qppvm