The balance controller has some output signals for the desired ZMP at each foot (both in local and world frame) and the global ZMP. Currently the ZMP at each foot in local frame seems to work well, but the version in world frame does not make sense. Weirdly enough, testing in simulation everything works, so we need to debug on the robot.
The balance controller has some output signals for the desired ZMP at each foot (both in local and world frame) and the global ZMP. Currently the ZMP at each foot in local frame seems to work well, but the version in world frame does not make sense. Weirdly enough, testing in simulation everything works, so we need to debug on the robot.