This module implements a position control balancing strategy. The robot is assumed to balance on one or two feet. The control input is a desired reference trajectory for the robot joints obtained by means of an integration-based, stack of tasks inverse kinematics.
The folder contains the Simulink model positionControlBalancing.mdl, which is generated by using Matlab R2017b.
Currently, supported robots are: iCubGazeboV2_5.
For information on how to use the controllers both in simulation and with the real robot, please refer to the wiki of the repo.
At start, the module calls the initialization file initPositionControlBalancing.m. Once opened, this file contains some configuration variables. Please follow the instruction inside the script to properly configure your simulation.
The gains and references for a specific robot (specified by the variable YARP_ROBOT_NAME) or a specific demo can be found in the folder app/robots/YARP_ROBOT_NAME.