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robotology-legacy / WBI-Toolbox-controllers

[WARNING]: this repository is no more mantained. Please refer to https://github.com/robotology/whole-body-controllers.
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Gravity compensation not working properly on torso #22

Closed DanielePucci closed 8 years ago

DanielePucci commented 8 years ago

We tried the wholeBodyImpedance controller by zeroing the gains. We were expecting that the gravity compensation would more or less do a good job, being the model reliable right now. In fact,, this was the case for the legs and the arms, but the torso was still falling quite abruptly. @traversaro @francesco-romano @nunoguedelha

traversaro commented 8 years ago

Related issue : https://github.com/robotology-playground/insitu-ft-analysis/issues/5 .

DanielePucci commented 8 years ago

Fixed after https://github.com/robotology/icub-main/commit/4a8c4f2e34980153d98b2d06a31ada8d33736e01