hopping controller

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Developer for hopping controller wanted! Based on the derived leg force 
function (ISSUE 140), a number of hopping strategies should be implemented:

- force profile based on spring-mass model
- constant energy injection hopping
- ...

Please report to me, as soon as YOU can start working on that.

Original issue reported on code.google.com by tra...@gmail.com on 7 Nov 2012 at 10:36

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Original comment by jrvanwhy on 8 Nov 2012 at 10:31

• Now blocked on: #140

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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

• Changed state: Started

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Original comment by jrvanwhy on 20 Nov 2012 at 6:37

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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

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Original comment by jrvanwhy on 1 Dec 2012 at 11:03

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Mikhail's controller implements all this functionality.

Original comment by jrvanwhy on 27 Mar 2013 at 12:13

• Changed state: Done