is there any doc or paper that introduce the function of cImpPDController::CalcControlForces()?

[Steven89Liu]

i don't understand the function of cImpPDController::CalcControlForces(), any idears is appreciated. thanks.

[Zju-George]

I think it is related to PD controller, but I don't know the detail yet, maybe you can read the paper and share with us.

[xbpeng]

It is implementing a semi-implicit pd controller from this paper: https://www.cc.gatech.edu/~turk/my_papers/stable_pd.pdf It is a lot more stable than a regular explicit pd controller. Though the code can be a bit hairy.

[Steven89Liu]

thanks both of you.