Create a force-based hip controller

micander / atrias

Automatically exported from code.google.com/p/atrias

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Create a force-based hip controller #157

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago

We will soon be getting the 2.1 legs back as well as strain gauges on the knees.

We need a controller that will do force control on the knees using the hip 
motors (and position control when the robot's in the air) as well as a 
top-level controller to help us tune the gains on this controller.

Original issue reported on code.google.com by jrvanwhy on 17 Dec 2012 at 7:28

Blocked on: #153

GoogleCodeExporter commented 9 years ago

Original comment by jrvanwhy on 17 Dec 2012 at 11:17

Now blocked on: #153

GoogleCodeExporter commented 9 years ago

This has been completed -- needs testing. I'm working on an ATC to test this.

Original comment by jrvanwhy on 19 Dec 2012 at 9:19

Changed state: Done