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  • loco-3d
  • sot-talos-balance
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  • Admittance control
Open
Milestone

Admittance control
Milestone ID: 11

This is the first hard step to be implemented, following the graph described in #14 (closed). We propose to have 4 stages:

  • joint admittance control
  • possibly 3D admittance control of one effector in the air (likely useless)
  • COM admittance control on the ground
  • ankle admittance control, possibly in the air with a switch to deactivate when fz~=0, or possibly directly on the ground.
  • Issues 9
  • Merge requests 0
  • Participants 3
  • Labels 3
77% complete
77%
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9
Issues 9 New issue
Open: 2 Closed: 7
0
Merge requests 0
Open: 0 Closed: 0 Merged: 0
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Reference: loco-3d/sot-talos-balance%"Admittance control"