Questions about IK and force control #3
Replies: 2 comments
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Hi Andrea, Thank you for your feedback :) Foot force control
All
(Also, in (16) the \dot{theta} are actually \dot{theta}^c.) I will update the manuscript to make this clearer.
In the reported experiments we didn't add integration to
Yes, in the reported experiments we just set Other remarks/questions
Yes.
I'll add the missing definitions of
Note that there is a difference here: straightforward proportional control over the CoP tracking error
( Thanks again for your feedback. I will update the report accordingly, and hope these answers help clarify! |
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Thanks for the answers. Everything's clear now! |
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Hi Stephane,
thanks for sharing your code. Yesterday I've read your paper and I have a few questions about it.
The "foot damping control" and the "foot force difference control" compute desired foot velocities
v^c
(roll-pitch and z translation). I didn't get how these desired velocities are used in the acceleration-level IK introduced in Section III-D.v^c
used in the "maintain foot contacts" task? I don't see any other option, but this was not clear for me in the paper.v^c
as\dot{x}_c
?v^c
and use it asx_c
?\ddot{x}_c
instead? Is it set to zero?Other random remarks\questions:
Thanks in advance for your answers.
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