Hi, in deploying NMPC in a real robot, would it be better to not use the plantar force as a judgment of the contact state, but directly use the time series used in defining the gait within OCS2 as a judgment of the contact state, as the robot I am using that I built myself feels that the plantar force calculated through the electric current is very noisy.
Hi, in deploying NMPC in a real robot, would it be better to not use the plantar force as a judgment of the contact state, but directly use the time series used in defining the gait within OCS2 as a judgment of the contact state, as the robot I am using that I built myself feels that the plantar force calculated through the electric current is very noisy.