Open PeterBowman opened 1 year ago
Regarding some design decisions:
Oops, we did it again. TEO's right leg is kinda broken after today's tests. See https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/65 and https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/66.
See also https://github.com/roboticslab-uc3m/teo-gazebo-models/issues/7 regarding the introduction of FT sensors in the simulator.
We want to have a different take on https://github.com/roboticslab-uc3m/teo-main/issues/51 starting with much simpler experiments. For starters, achieving single-foot stability with ZMP compensation is our current goal (see these videos from 2019). This task may supersede https://github.com/roboticslab-uc3m/gait-experiments/issues/1.
Ankle FT sensor is a must. Then, I'd consider using the IMU to somehow overcome slack errors: https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/63.
cc @munozyanez @Gerson-Martin @jmgarciah