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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Foot Contact Sensors #127

Open mattwilliamson opened 1 year ago

mattwilliamson commented 1 year ago

I'm really loving champ. I've tried a lot of different frameworks on my SpotMicro and basically none of them work well except this. Thank you for all your work.

I'm having a hard time trying to find any info on foot Contact sensors, though. What kind of sensor is typically used? A force resistor? Any example code for nodes publishing to the topic?

Any info would help here.

Thanks!

yoggi56 commented 10 months ago

MIT used encoders and current sensors in joint servos in order to determine presence of contact. There is information in the acrticle