The desired ZMP velocity can be discontinuous when both feet are corrected

robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

BSD 3-Clause "New" or "Revised" License

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Open S-Dafarra opened 6 years ago

S-Dafarra commented 6 years ago

com_desired_messedup In the graph we see in this order: desired ZMP position, velocity and acceleration