Closed mmurooka closed 1 year ago
By varying the IK task gain (stiffness and damping) of the foot task, the swing foot pose can be interpolated with the optimal trajectory with minimum acceleration while the target pose is fixed at the goal position.
https://user-images.githubusercontent.com/6636600/212573963-e7408523-a2b2-4c75-b57f-ae8ccce4c831.mp4
By varying the IK task gain (stiffness and damping) of the foot task, the swing foot pose can be interpolated with the optimal trajectory with minimum acceleration while the target pose is fixed at the goal position.
https://user-images.githubusercontent.com/6636600/212573963-e7408523-a2b2-4c75-b57f-ae8ccce4c831.mp4