search

Interbotix / HROS1-Framework

HR-OS1 Framework, based on the Darwin-OP project. Intended for use on HR-OS1 Humanoid Robot platforms.
http://www.trossenrobotics.com/HR-OS1
GNU General Public License v3.0
54 stars 40 forks source link

ps3_demo walk gait does not detect falling over #10

Closed r3n33 closed 1 year ago

r3n33 commented 9 years ago

MotionManager maintains MotionStatus::FALLEN and a check can be introduced in ps3_demo/StatusCheck.cpp to stop the walk gait when the robot has fallen forwards or backwards.

DerelictRobot commented 8 years ago

There's code in the ps3_demo here:

https://github.com/Interbotix/HROS1-Framework/blob/master/Linux/project/ps3_demo/StatusCheck.cpp#L60

..that does this, but its commented out for the time being, pending another update with getup motions and more thorough testing now that the gait is more stable.