Dynamic Walking Paper objectives

jeljaik / extended-kalman-filter

Matlab and C++ code for implementation of the Extended Kalman Filter for estimating dynamic quantities for a single rigid body with distributed force/torque measurements and distributed gyroscopes and accelerometers measurements.It also include estimation of the orientation under the quaternion representation.

MIT License

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@jeljaik @DanielePucci Overall goal : Balancing controller working with compliant skin.

[ ] Balancing controller with different foot orientations (balancing on a flat non-moving surface that is at an angle with ground).
[x] Imu attached to surface for absolute orientation of the fixed surface.
[ ] Foot skin board (including accelro and gyro) install open ports
[ ] Jorhs fusion on foot skin board data (compare with IMU)
[ ] Test controller with small variations of fixed surface...also test Jors fusion
[ ] Test the behaviour change when including skin

Testing controller with IMU attached to test surface.

[ ] 3D print support for IMU and attach it to center of the moving platform.

[x] 3D Design in Creo.
[x] 3D Printing.
[ ] Installation on platform.

[x] Modify quaternionEKF so that it works again with external XSens.

[ ] :question: Fix iCub's feet location on platform somehow for debugging reasons and avoiding slippage.

[ ] Test balancing controller with external IMU 07/07/2015

jeljaik / extended-kalman-filter

Dynamic Walking Paper objectives #31

Testing controller with IMU attached to test surface.