Topic/hip flexibility (!18) · Merge requests · loco-3d / sot-talos-balance

Merged Noelie Ramuzat requested to merge nramuzat/sot-talos-balance:topic/hip_flexibility into devel 5 years ago

Oct 14, 2019
- sync submodule · a3c18a28
  Noëlie RAMUZAT authored 5 years ago
  
  a3c18a28
- [HipFlex] Add config file with gains determined during experiments · 66bd2b29
  NoelieRamuzat authored 5 years ago
  
  Cleaning files of comments. Add warnings: The device has control type in no integrator -> control is in POSITION The hipFlexibility is plugged in the test file only The hipFlexibility q_des signal is set to the robot halfSitting -> to be changed
  66bd2b29
- Remove useless comment · f336014c
  NoelieRamuzat authored 5 years ago
  
  f336014c
- [HipFlex] Modifications for the low pass filter · 8d828e93
  NoelieRamuzat authored 5 years ago
  
  New architecture: tau -> LowPass -> delta_q (= tau/flex) -> RateLimiter -> q_cmd (= RL(delta_q) + q_des)
  8d828e93
- Rebase v1.6.0 - Add setter & getter for RateLimiter · e8e748a9
  NoelieRamuzat authored 5 years ago
  
  e8e748a9
- [HipFlex] Correction PD derivative formula · 53e6489e
  NoelieRamuzat authored 5 years ago
  
  53e6489e
- [HipFlex] Correction of the low pass filter · 5ef82bd9
  NoelieRamuzat authored 5 years ago
  
  5ef82bd9
- [HipFlex] Add the first derivative of torque sensors in PD control · 774a36e9
  NoelieRamuzat authored 5 years ago
  
  774a36e9
- [HipFlex] Change the default parameters of filter and saturation · 0cd0171f
  NoelieRamuzat authored 5 years ago
  
  0cd0171f
- [HipFlex] Changing name to compensation, fixing low pass filter, adding getter · 72fc0bda
  NoelieRamuzat authored 5 years ago
  
  72fc0bda
- [HipFlex] First draft of the calibration entity for the hip flexibility · ba0d1be9
  NoelieRamuzat authored 5 years ago
  
  Take in entry the current torque and the desired position of the joints. Output the angular correction to apply on the hip (theta_diffSOUT) and the desired positions updated with these angles (q_cmdSOUT). Done on left and right hips. Possibility to activate angular saturation and lowPass filter. Test uses the entity with a constant desired position which is the halfsitting, with same left and right hip flexibility.
  ba0d1be9

Topic/hip flexibility

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