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Dynamic Walking Paper objectives #31

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1 of 6 tasks
naveenoid opened this issue Jun 25, 2015 · 2 comments
Open
1 of 6 tasks

Dynamic Walking Paper objectives #31

naveenoid opened this issue Jun 25, 2015 · 2 comments

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@naveenoid
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@jeljaik @DanielePucci
Overall goal : Balancing controller working with compliant skin.

  • Balancing controller with different foot orientations (balancing on a flat non-moving surface that is at an angle with ground).
  • Imu attached to surface for absolute orientation of the fixed surface.
  • Foot skin board (including accelro and gyro) install open ports
  • Jorhs fusion on foot skin board data (compare with IMU)
  • Test controller with small variations of fixed surface...also test Jors fusion
  • Test the behaviour change when including skin
@jeljaik
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jeljaik commented Jun 25, 2015

Testing controller with IMU attached to test surface.

  • 3D print support for IMU and attach it to center of the moving platform.
    • 3D Design in Creo.
    • 3D Printing.
    • Installation on platform.
  • Modify quaternionEKF so that it works again with external XSens.
  • ❓ Fix iCub's feet location on platform somehow for debugging reasons and avoiding slippage.
  • Test balancing controller with external IMU 07/07/2015

@traversaro
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What strategy you plan to use to provide the output of the filter with the controller?

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@traversaro @naveenoid @jeljaik