Closed GoogleCodeExporter closed 9 years ago
Original comment by jrvanwhy
on 8 Nov 2012 at 10:31
I will be making a force profile-based hopping controller.
Details:
I will make a subcontroller that converts the desired leg force into a
differential in spring deflections. I'll use this in the top-level controller
to compute the necessary spring deflections to follow the force profile.
The force profile will be a constant function of time since touchdown.
I'll have settings for hopping on each leg independently, both legs at once, or
alternating legs (like in-place jogging).
There will be two sets of gains, one for flight, and one for stance.
Additionally, for stance mode, I'll have a setting allowing use of the
incremental encoder for derivative and/or proportional feedback for the force
control.
I'll assume the reliability of the toe sensors.
Original comment by jrvanwhy
on 15 Nov 2012 at 11:15
Original comment by jrvanwhy
on 20 Nov 2012 at 6:37
During flight, the leg will swing to a fixed length and vertical angle; during
stance, the spring deflections will remain symmetrical.
Original comment by jrvanwhy
on 1 Dec 2012 at 11:03
Original comment by jrvanwhy
on 1 Dec 2012 at 11:03
Mikhail's controller implements all this functionality.
Original comment by jrvanwhy
on 27 Mar 2013 at 12:13
Original issue reported on code.google.com by
tra...@gmail.com
on 7 Nov 2012 at 10:36