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stack-of-tasks
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sot-torque-control
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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[upd] Used the latest parametric-curves version
#44
cmastalli
closed
6 years ago
0
[cleanup] Removed legacy macro for metapod operations
#43
cmastalli
closed
6 years ago
0
Removed metapod dependency
#42
cmastalli
closed
6 years ago
0
Need to move hrp2 related python script to hrp2-torque-control
#41
thomasfla
opened
6 years ago
0
Topic/traj gen
#40
proyan
closed
3 years ago
1
Update trajectory-generator and move base trajectories out of sot-torque-control to separate package
#39
proyan
closed
6 years ago
1
[joint-torque-controller] velocity feedback in torque controller
#38
proyan
closed
6 years ago
2
Add velocity feedback in motor control
#37
andreadelprete
opened
6 years ago
0
Express base velocity in local frame when using Pinocchio
#36
andreadelprete
opened
6 years ago
0
Move filters out of ft-estimator. change create entities file
#35
proyan
closed
6 years ago
1
[causal-filter] fix problem with initialization of causal filter
#34
proyan
closed
6 years ago
0
Improve current control of HRP-2
#33
andreadelprete
closed
6 years ago
4
Merging devel in master
#32
olivier-stasse
closed
6 years ago
0
[filter-differentiator] Simplify API and update documentation
#31
proyan
closed
6 years ago
1
[causal-filter] Simplify API (remove filter order) and correct documentation
#30
proyan
closed
6 years ago
0
[causal-filter] add causal filter and wrapper.
#29
proyan
closed
6 years ago
0
[python/create_entities_utils] robotState can have a size greater than NJ+6
#28
proyan
closed
6 years ago
0
[tests] add test script for openhrp3 simulator using inverse-dynamics-balance-controller
#27
proyan
closed
6 years ago
0
[torque-offset-estimator][Bug] change epsilon to double.
#26
proyan
closed
6 years ago
0
Motor thermal model
#25
andreadelprete
opened
6 years ago
1
Change joint order
#24
andreadelprete
opened
7 years ago
0
[torque-offset-estimator] Entity to estimate the offset in the torque…
#23
proyan
closed
7 years ago
0
Making hrp2-torque-control and sot-torque-control independent.
#22
olivier-stasse
closed
6 years ago
0
Remove dependency on pinocchio-inv-dyn
#21
thomasfla
closed
6 years ago
0
[torque-offset-estimator] entity for estimating the offset in the joint torque sensor calibration.
#20
proyan
closed
7 years ago
2
Sot v3 - Making the code independent from HRP-2
#19
olivier-stasse
closed
7 years ago
1
Create a simple flexibility observer
#18
andreadelprete
opened
7 years ago
10
Splitting ft-estimator entity into two. Deals with stack-of-tasks/sot-torque-control#12
#17
proyan
closed
7 years ago
9
update test_balance_ctrl_sim python file and balance_ctrl_sim_conf module
#16
proyan
closed
7 years ago
1
Further correction on previous pull request #5
#15
proyan
closed
7 years ago
0
Read joint limits and sensor positions from urdf file rather than from hrp2_common.hh
#14
andreadelprete
closed
6 years ago
2
Joint Torque sensors calibration
#13
andreadelprete
closed
7 years ago
1
Split ForceTorqueEstimator into two entities
#12
andreadelprete
closed
7 years ago
0
[BalanceControler] [CtrlManager] Balance controler should generate an emergency stop signal if no solution is found.
#11
thomasfla
opened
7 years ago
1
[BalanceController] Take reference wrenches as input
#10
andreadelprete
closed
6 years ago
1
Create entity for SE3 trajectory generation
#9
andreadelprete
opened
7 years ago
1
Integrate desired accelerations to get references for position-controlled joints
#8
andreadelprete
opened
7 years ago
0
Improve velocity estimation
#7
andreadelprete
opened
7 years ago
10
Compensate friction using reference joint velocities
#6
andreadelprete
opened
7 years ago
3
Moving sot-torque-control to v3
#5
proyan
closed
7 years ago
2
Online validation of motor models
#4
andreadelprete
opened
7 years ago
0
Create device for simulation
#3
andreadelprete
closed
6 years ago
9
Account for rotor inertias in ForceTorqueEstimator
#2
andreadelprete
closed
6 years ago
1
[balance-controller] Bug in ZMP computation
#1
andreadelprete
closed
7 years ago
1
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