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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Update documentation for next release #90

Open gabrielenava opened 4 years ago

gabrielenava commented 4 years ago

Here are some advices (see also https://github.com/robotology/whole-body-controllers/issues/55#issuecomment-453454680):

Possible notes:

  • describe briefly the theory behind each controller (math + diagrams) and add reference for detailed description

Possible advice:

  • describe how to tune the CoM and joints gains for the yoga demo
  • describe how to tune the regularization parameters for the yoga demo
gabrielenava commented 4 years ago

Added a scheme that represents the software infrastructure that supports WBC. May be integrated in the wiki in release 3.0.