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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Investigate if it makes sense to port Jerk control in wbc #72

Closed gabrielenava closed 4 years ago

gabrielenava commented 4 years ago

I would like to include jerk control in wbc, but before it is necessary to analyze the ratio between effort and benefits.

gabrielenava commented 4 years ago

Differently from the other two controllers https://github.com/robotology/whole-body-controllers/issues/74 and https://github.com/robotology/whole-body-controllers/issues/73, I do believe that it is worth to bring the jerk control as a separate additional controller to the WBC repo.

Here are the reasons:

1) the controller is still used, therefore porting and maintenance is easier; 2) it can be used directly on the robot (the only issue is related to the usage of the FT sensors at feet, but does not depend on the controller, rather it depends from FT calibration); 3) it is a jerk control, therefore something new and different from the controllers already implemented in the repo. Also, it implements the contact parametrization, which is something new and easy to exploits for several future activities.

Therefore, the controller will be ported in WBC in this release.

gabrielenava commented 4 years ago

I want to release the code as soon as possible, and the jerk control is still under review and not public. I will release the code without adding the jerk control at this round, and I will add the jerk control in a future release.

Closing the issue.