taskslayer - Tasks: task #234, Stabilize robot (make it stand)

 
 
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task #234: Stabilize robot (make it stand)

Submitted by:  Maciek Godek <panicz>
Submitted on:  Wed Sep 23 07:55:12 2015  
 
Should Start On: Tue Sep 22 21:00:00 2015Should be Finished on: Thu Oct 22 21:00:00 2015
Category: NonePriority: 5 - Normal
Status: NonePrivacy: Public
Assigned to: Maciek Godek <panicz>Percent Complete: 0%
Open/Closed: OpenEffort: 50.00

Wed Sep 23 07:55:12 2015, original submission:

At the moment, whatever the pose of the robot in the pose editor is set, the robot collapses, because it doesn't react to the accumulating deviations of the mass center projection to the gravity plane.

Before the robot would be able to walk, it is essential that it should be able to stand.

The idea is similar to that of inverse kinematics, i.e. to calculate the deisred angles (to place the center of mass in the stable position) using SVD and pseudoinverse.

Maciek Godek <panicz>
Project AdministratorIn charge of this item.

 

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