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.