TODO List for Dynamic Walking 2015 paper

[naveenoid]

Extended Abstract TODO

• [ ] Abstract sections update
• [ ] Photographs of Balancing, sensorized skin image

  Technical Work TODO

• [ ] Contact Diego Torazza, RBCS Mechanical Design head Robotics, Brain and Cognitive Sciences for new 3D printed foot.
• [ ] Gyroscope status and timetable verify with Maggiali and Nori
• [ ] Review Kalman Filters libraries and pick best
• [ ] Consider scalable design of library fitting inside yarpWholeBodyState

  Theoretical Work TODO

• [ ] Dani on stability analysis of existing controller (maybe with assumptions on error bounds of sensors?)
• [ ] Expand model to consider a compliant contact with world?

[jeljaik]

TODO List After 19-03-2015 Meeting

• [ ] 1. Proper computation of f_0, mu_o from hip F/T sensors.
• [ ] 2. Data gathering and tests with this data.
• [ ] 3. Improved estimation of Q and R .
• [ ] 4. Add compliance to state dynamics.
• [ ] 5. Adaptive EKF version of the IROS paper.
• [ ] 5* Adaptive Kalman Filter research.
• [ ] 6. Estimation of gyro bias as part of the state.
• [ ] 7. Expand IROS paper work with quaternions.
• [ ] 8*. C++ Implementation of the IROS paper.
• [ ] 8. C++ implementation for Dynamic Walking 2015.
• [ ] 9. Integration with balancing.
• [ ] 10. Balancing demo.
• [ ] 11. HUMANOIDS paper.