tuxbotix
commented
1 year ago The C++ codebase has a COM model, Somewhere in the walking engine or elsewhere in motion, it uses this kinematics-based COM estimation + IMU data to get the dynamic state. I'm not sure if we already have this on the Rust codebase and need something better or if getting this modelling already helps.
https://github.com/HULKs/nao/blob/cpp/src/Hardware/Kinematics/Com.hpp https://github.com/HULKs/nao/blob/cpp/src/Hardware/Kinematics/Com.cpp
The current implementation of the fall state estimation uses a simple average filter for the filtering of the IMU orientation. To implement a more sophisticated fall state estimation we need a accurate model for the center of mass.