Implement the local ZMP controller for the IK

ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

https://ami-iit.github.io/bipedal-locomotion-framework/

BSD 3-Clause "New" or "Revised" License

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Implement the local ZMP controller for the IK #505

Open GiulioRomualdi opened 2 years ago

GiulioRomualdi commented 2 years ago

Among all the tasks supported by the IK what is missing is one that tries to stabilize the desired local CoP. Recent works [^1] shown that this tasks can be considered by adding an admittance controller for the ankle joints velocities.

The task has been successfully used in the walking controller developed in https://github.com/stephane-caron/lipm_walking_controller/

[^1]: Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

GiulioRomualdi commented 6 months ago

Another interesting approach for the local zmp controller can be found in https://hal.science/hal-04147602/