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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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New method for force distribution based on horizon reference #359

Closed antodld closed 1 year ago

antodld commented 1 year ago

This PR adds a new method to distribute the force during a double support phase.

It uses a set of reference ZMP in a defined horizon.

The CoP are then modelled as a 1st order w.r.t the generated reference with parameters lambda and delay w.r.t the previous reference. The distribution computes the reference CoP to send to the admittances tasks in order to obtain the desired ZMP.

This method does not rely on the classic DCM feedback scheme and is supposed to be used in a case where the centroidal dynamic is already computed. The previous use of the lipm_stabilizer remains.

This has been tested using the ismpc controller with HRP-2KAI and HRP-4CR real robots.

It also added other accessor on the stabilizer state.

gergondet commented 1 year ago

Thanks Antonin,

I have rebased this on master and cleaned up the history after the review. I will merge this after CI lands :partying_face: