stack-of-tasks/tsid

Center of Pressure Task

Closed this issue · 3 comments

andreadelprete commented

I'm currently working on a new center of pressure (CoP) task for TSID. Currently we have a center of mass task and an angular momentum task, but no CoP task. This has been requested by @NahuelVilla and it could probably be useful for anybody working with a Linear Inverted Pendulum model. I open this issue to keep track of the developments and advertise this new feature.

andreadelprete commented

I've just finished the first successful test of the CoP task. Starting from the ex_4_walking.py script (from the exercise folder) I've added a CoP task to track the reference CoP (besides tracking the reference CoM). Before introducing the task, this was the CoP I was getting:
cop_wo_task

Now with the CoP task it seems that the real CoP is much closer to the reference one:
cop_w_task

I cannot get the tracking to be better than this because if I increase too much the weight of the CoP task then the robot falls. This is reasonable because I am setting an open-loop reference CoP, which is not stabilizing.

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olivier-stasse commented

It sounds very nice. Thanks a lot @andreadelprete !

andreadelprete commented

The CoP task is implemented and pushed to devel now, so I'm closing this issue.