Tutorial on Impedance Control
This tutorial will guide you through the use of the remotecontrolboardremapper YARP device and the
iDynTree classes iDynTree::Model,
iDynTree::ModelLoader
and iDynTree::KinDynComputations for whole-body control.
The code contained in this example will show how to create a simple whole-body impedance controller. The robot controlled in this way will try to keep its initial configuration even in presence of external disturbances while mantaining a compliant behaviour.
The control implements the following equation:
