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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Migrate the friction exploitation control in whole-body-controllers #79

Closed gabrielenava closed 9 months ago

gabrielenava commented 5 years ago

The issue is a remainder of the activity @nunoguedelha is carrying on. Given his recent results with the current control framework, it would be nice to have the whole-body friction exploitation controller among the available WBC controllers.

Time and type of controller (fixed base of floating base?) still have to be defined.The friction exploitation framework, currently is still in legacy. In order to move it in WBC, an interface that allows to set the current/motor torques from Simulink is required. Otherwise, if the controller just set the joint torques a modification of the low-level controller is necessary every time one has to work on the robot.

nunoguedelha commented 5 years ago

Regarding the friction exploitation VS compensation feature, I have a proposal that I mentioned to @DanielePucci some time ago. I am documenting it here.

gabrielenava commented 9 months ago

in the end we did not migrate the friction exploitation controller to WBC. I don't think it make sense to schedule such activity at the moment. For now, closing as not planned.