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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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How to standup process. #88

Closed elpimous closed 2 years ago

elpimous commented 2 years ago

Hi @grassjelly. Testing champ with my bldc controllers, under a position mode. My goal is a fully autonomous robot, so I need a robot who sit down and stand up automatically.

I see that your code only propose an already standed up robot. Did you work on a stand up procedure?

Any idea of where I should start?

grassjelly commented 2 years ago

Hi you can do it programatically by publishing the body pose. You can take a look here: https://github.com/chvmp/champ_teleop/blob/master/champ_teleop.py#L114

elpimous commented 2 years ago

@grassjelly Correct. However, when sit down, body on ground, legs contact to ground are a bit larger than normal walk legs contact. So, left/right end legs must be larger... Any idea? I'd love to be able to move each end legs separately... Thanks Juan

grassjelly commented 2 years ago

you can take a look at this function https://github.com/chvmp/champ/blob/master/champ_base/src/quadruped_controller.cpp#L92-L104 . You can manipulate the legs by changing the target_foot_positions

grassjelly commented 2 years ago

hey @elpimous please close the issue if my answer solves your issue