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xbpeng / DeepMimic

Motion imitation with deep reinforcement learning.
https://xbpeng.github.io/projects/DeepMimic/index.html
MIT License
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is there any doc or paper that introduce the function of cImpPDController::CalcControlForces()? #68

Open Steven89Liu opened 5 years ago

Steven89Liu commented 5 years ago

i don't understand the function of cImpPDController::CalcControlForces(), any idears is appreciated. thanks.

Zju-George commented 5 years ago

I think it is related to PD controller, but I don't know the detail yet, maybe you can read the paper and share with us.

xbpeng commented 5 years ago

It is implementing a semi-implicit pd controller from this paper: https://www.cc.gatech.edu/~turk/my_papers/stable_pd.pdf It is a lot more stable than a regular explicit pd controller. Though the code can be a bit hairy.

Steven89Liu commented 5 years ago

thanks both of you.