whole-body-controllers
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robotology
Simulink-based whole body controllers for humanoid robots.
I tried to run the `floatingBaseBalancingTorqueControlWithSimulator` by just running `floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu` as documented in https://github.com/ami-iit/matlab-whole-body-simulator/tree/ac47383e3c04cd0cfd0ab11e2479b7991be9f491#eyes-checking-the-installation, and the simulation is failing with error: ~~~ Unable to resolve the name mwbs.Utils.Rp2H. ~~~ This...
See https://github.com/robotology/whole-body-controllers/issues/140 .
@Yeshasvitvs suggested a possible workflow in order to be able to see run time plots with Simulink. The idea is to stream the Simulink data in a `yarp port`, and...
The issue is a remainder of the activity @nunoguedelha is carrying on. Given his recent results with the current control framework, it would be nice to have the `whole-body` friction...
I think a simple GitHub action could at least verify that: - there are no problems in compiling the repository, even if `compiling` at the moment (release `2.5`) simply means...
Here are some advices (see also https://github.com/robotology/whole-body-controllers/issues/55#issuecomment-453454680): >Possible notes: >- describe briefly the theory behind each controller (math + diagrams) and add reference for detailed description >Possible advice: > -...
The new `2.5` release of WBC now also officially supports an internal simulator for balancing: https://github.com/robotology/whole-body-controllers/blob/master/controllers/simulink-balancing-simulator/README.md. The simulator can be improved as follows: - the control subsystem and the `dynamics...
Given the homogenous matrix: ``` matlab H = 1.0000 0 0 0 0 -0.7071 -0.7071 0 0 0.7071 -0.7071 0 0 0 0 1.0000 ``` The quaternion computed using the...
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Simulink-based whole body controllers for humanoid robots.