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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Constraint for limiting step length based on velocity error breaks with negative desired Y velocity #71

Closed LouKordos closed 3 years ago

LouKordos commented 3 years ago

The code that is used to limit the step length taken based on velocity error so that the torso is not slowed down too much only works with positive Y velocity. Negative velocity seems to break it, even though it works the same way.

LouKordos commented 3 years ago

This does not seem to be needed anymore, walking and turning works fine without the constraints in X or Y.