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robotology / walking-teleoperation

Software related to walking and teleoperation.
BSD 3-Clause "New" or "Revised" License
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Add smooth transition for retargeting in walking controller at initial phase #22

Closed kouroshD closed 4 years ago

kouroshD commented 5 years ago

Currently, when we start retargeting, the robot start immediately imitating the human pose. Therefore, at the beginning when there is high error between human and robot configuration, cause fast motion of the robot. Therefore, we should add a minJerkTrajectory in the walking controller, at the beginning of the retargeting to avoid such behavior. cc @GiulioRomualdi

kouroshD commented 4 years ago

The code location for the implementation: https://github.com/kouroshD/walking-teleoperation/tree/feature/addLogger_develRebased

kouroshD commented 4 years ago

and also here https://github.com/robotology/walking-controllers/pull/41

kouroshD commented 4 years ago

Related issue: https://github.com/dic-iit/lab-events-demos/issues/114 We have done the implementation both in Walking Controller and Oculus Teleoperation. So, We close this issue.