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erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
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Additional motor torques #65

Closed RodrigoMA93 closed 3 years ago

RodrigoMA93 commented 3 years ago

Is not an issue, just for a better understanding, how do you calculate the additional motor torques that are used in the Hybrid Control of your robot. Do you do a substraction of the desired motor torques minus the actual motor torques? Selección_034

erwincoumans commented 3 years ago

The additional torques are computed using convex MPC, for the stance feet. In other words: the swing feet use position control (PD) while stance feet using torque control through those 'additional_torques).