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The iCub Main Software Repository
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IOL kinesthetic teaching fails due to a problem on torso pitch #56

Closed pattacini closed 10 years ago

pattacini commented 10 years ago

While running the kinesthetic teaching part of the IOL demo, iCub starts leaning forward with the torso. Somehow, the torque applied to the torso pitch is not enough to counterbalance the gravity. As result, the operator is unable to teach the robot the correct posture.

Due to the somewhat importance of the IOL demo, we need to fix this problem asap. I'm available to give help.

iron76 commented 10 years ago

@traversaro isn't this related to what was observed in the CoDyCo demo?

pattacini commented 10 years ago

For the time being we've just increased the stiffness value of the torso pitch from 0.5 to 0.85; in the past 0.5 was good enough to prevent the robot from leaning forward.