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stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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[joint-torque-controller] velocity feedback in torque controller #38

Closed proyan closed 6 years ago

proyan commented 6 years ago

Adds velocity feedback term in joint-torque-controller. Currently uses linear interpolation of ddq_des and dq to perform runge-kutta integration of ddq_motor

Deals with #37

andreadelprete commented 6 years ago

Hi Rohan, did you manage to make this work in simulation? If not, maybe it's better to wait before merging...

proyan commented 6 years ago

Hey

I havn't tried it in simulation yet. Please do wait before merging.

On October 30, 2017 10:21:48 PM GMT+01:00, Andrea Del Prete notifications@github.com wrote:

Hi Rohan, did you manage to make this work in simulation? If not, maybe it's better to wait before merging...

-- You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub: https://github.com/stack-of-tasks/sot-torque-control/pull/38#issuecomment-340588356