Process output of motorFrictionExcitation and motorFrictionIdentification - Githubissues

robotology-legacy / codyco-modules

Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

www.codyco.eu

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Process output of motorFrictionExcitation and motorFrictionIdentification #72

Closed traversaro closed 7 years ago

traversaro commented 10 years ago

Friction identification is performed using the two modules motorFrictionExcitation [1] and motorFrictionIdentification [2]. Data about this friction is currently saved in a custom file and this data is then used for the JTC module.

In the future we will want to:

load this data to correctly set friction related parameters of URDF/SDF,
load this data to correctly set parameters in the firmware .

[1] : http://wiki.icub.org/codyco/dox/html/group__motorFrictionExcitation.html [2] : http://wiki.icub.org/codyco/dox/html/group__motorFrictionIdentification.html

traversaro commented 10 years ago

cc @Vegekou

traversaro commented 7 years ago

Closing as this functionality is currently being migrated in https://github.com/robotology-playground/sensors-calib-inertial cc @nunoguedelha @S-Dafarra .