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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Investigate how switch feet for yoga retargeting #84

Closed kouroshD closed 4 years ago

kouroshD commented 5 years ago

According to: https://github.com/dic-iit/component_wholebody-teleoperation/issues/194

Insert the switch from one foot to two feet (either automatic, or triggered from kinematics or buttons)

Since, the ft shoes now are quite reliable we may go for that. Maybe also wireless shoes if possible. Something to e discussed with @DanielePucci . Other options can be using the joypads, or some threshold on the kinematic side.

Currently, the change from single support to double support is not tested and checked. We should do it after tuning.

DanielePucci commented 4 years ago

Nice @kouroshD, wireless or wired shoes are a nice idea! Contact retargeting I guess is another open problem

gabrielenava commented 4 years ago

Now the latest version of the yoga retargeting can switch from one foot to two feet balancing. Closing the issue.

kouroshD commented 4 years ago

The implementation is in this branch https://github.com/Yeshasvitvs/whole-body-controllers/tree/feature/kinematicSwitch . we should do some additional tests, and add it to robotology branch.