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[20160909] New Valkyrie Controller

[20160909] New Valkyrie Controller

Sep 09, 2016

The current repository has this jpos control. People can start from it. The questions I have now

  • Is this the maximum feedback gain? (currently using Kp < 30, Kd < 10)

  • Is this a correct way to do torque control? ( SetForce(0, torque_command) ) – 80% sure

  • Can I use the current way in the real competition?

 

To do,

  • To reduce the DoF (currently 59 + 6), I will take off hand and Hokuyo joint in the RBDL model.

  • Balance control...