Tasks for the third year review meeting demo

[DanielePucci]

The third year review meeting will include also an experimental validation of the designed controllers. To this purposes, we - as IIT guys - are planning to show the following demos:

D1. iCub balancing on a soft carpet; D2. iCub balancing on seesaws.

For the success of the above validations, the following tasks have been identified (the responsible of each task is listed after the task itself):

• [x] T1: Generate the model for iCub Darmstadt01 @traversaro
• [ ] T2: Investigate quality of joint velocities from High Resolution Encoders @DanielePucci
• [ ] T3: Tool for Offset / C.M. FT sensors calibration @fjandrad
• [ ] T4: Tool for fine encoders offsets calibration from accelerometers @nunoguedelha @naveenoid
• [ ] T5: Use the IMUs attached to the feet and Base (waist) Mechanical : where and how do we attach them? (contact: Tisi) Software: what about the driver? (contact: Accame) Tests @traversaro @francesco-romano @DanielePucci
• [ ] T6 :Generating joint references compatible with CoM trajectories @francesco-romano
• [x] T7: WholeBodyDynamicsTree on PC104 @traversaro
• [ ] T8: Controller re-design @DanielePucci
• [ ] T9: Carpet stiffness estimation

@robotology/codyco-developers @azadm @hu-yue @serena-ivaldi @robertocalandra @misaki43 @serena-ivaldi

[traversaro]

CoDyCo Deliverable 5.3 (available at https://github.com/robotology-playground/codyco-deliverables/blob/master/D5.3/pdf/D5.3.pdf) contains some details on the demonstraiton scenario.

[DanielePucci]

Task T2 assigned to @TeoKa and me.

[DanielePucci]

Expected deadlines and status:

T1. Done

T2. 28th April: current status, 0%

T3. 13th May: current status, 30%

T4. 13th May: current status, 35%

T5. Cancelled

T6. 6th May: current status, 25%

T7. 28th April: current status, 50% (but nobody should know it)

T8. 13th May, current status, 50%

T9. 13th May, current status, 50%

[DanielePucci]

The task T8 has the following sub-tasks:

• [x] general cleaning and adding comments of YOGA++ code;
• [x] avoid the use of two different QPs for finding the control solutions associated with the one-foot and two-feet standing phase;
• [x] add QP solver to the balancingControllerOnSeesaw
• [ ] add a feature to balancingControllerOnSeesaw so that to use the robot's IMU to retrive the seesaw orientation and velocity
• [ ] add the continuity constraint of torques to balancingControllerOnSeesaw
• [ ] add the continuity constraint of torques to balancingController
• [ ] add control of seesaw orientation to balancingControllerOnSeesaw
• [ ] modify balancingController so that to take into account compliant contacts

[francesco-romano]

Given that the 3rd year meeting took place some months ago, I close this issue.