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hsp-iit / project-ergocub

A demonstration of human-robot interaction on the ergoCub through vision.
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Test stiffness optimisation code on ergoCub #112

Closed Woolfrey closed 11 months ago

Woolfrey commented 1 year ago

Wrote and tested code in Gazebo to make the ergoCub mimic human behaviour [1] using mathematical optimisation:

image

Need to run the control on ergoCub, but there are current issues with joint tracking on the right arm #34.

[1] Trumbower, R. D., Krutky, M. A., Yang, B. S., & Perreault, E. J. (2009). Use of self-selected postures to regulate multi-joint stiffness during unconstrained tasks. PloS one, 4(5), e5411.

Woolfrey commented 1 year ago

Joint tracking problems only recently resolved: https://github.com/robotology/icub-tech-support/issues/1613

Plan to test on the real ergoCub hopefully before September.

Woolfrey commented 1 year ago

Here's the results from Friday 1st September:

https://github.com/hsp-iit/project-ergocub/assets/62581255/682df871-5e6b-4717-918e-48b79f036983