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ShuoYangRobotics / A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers
GNU Affero General Public License v3.0
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What is the parameter ‘km_foot’? #9

Closed chalkchalk closed 2 years ago

chalkchalk commented 2 years ago

Find that the parameter _kmfoot in code Eigen::Vector3d force_tgt = state.km_foot.cwiseProduct(state.foot_forces_kin.block<3, 1>(0, i)); Where km_foot = Eigen::Vector3d(0.1, 0.1, 0.1); What does this parameter represent？Why not adjusting parameter _kpfoot and _kdfoot instead?

ShuoYangRobotics commented 2 years ago

Just another gain appears during swing leg controller derivation. I may add a document later to explain it. For now you can consider it as a scaling factor of target swing force