Discussions

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  Floating base estimation for Inverse Kinematics

  RVSagar started Jul 10, 2023 in Stabilizer

  

  

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  Why ankle torque minimization in wrench distribution?

  shbang91 started Oct 17, 2022 in Stabilizer

  

  

  

  

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  ZMP feedback in DCM feedback control law

  shbang91 started Oct 17, 2022 in Stabilizer

  

  

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  Bug in foot force difference control

  Saeed-Mansouri started Jan 21, 2021 in Code

  

  

  

  

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  MPC failure

  Saeed-Mansouri started Jan 12, 2021 in Model Predictive Control

  

  

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  Return to neutral point in foot damping control

  Saeed-Mansouri started Jan 21, 2021 in Stabilizer

  

  

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  Why control the vertical force difference rather than vertical forces directly?

  Saeed-Mansouri started Jan 21, 2021 in Stabilizer

  

  

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  Why is the ZMP reference position below the ankle?

  stephane-caron started Feb 6, 2021 in Model Predictive Control

  

  

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  Ankle frame for wrench distribution

  Saeed-Mansouri started Jan 19, 2021 in Code

  

  

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  Welcome to the LIPM walking control forum!

  stephane-caron started Dec 29, 2020 in General

  

  

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  Stop during the first DSP

  Saeed-Mansouri started Dec 21, 2020 in Model Predictive Control

  

  

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  Calculating the full contact wrench from the ZMP

  wyqsnddd started Oct 8, 2019 in General

  

  

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  Standing Phase

  Saeed-Mansouri started Feb 16, 2020 in Code

  

  

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  Stiffness and Damping Effect in the Foot Contact Controller Perfomance

  Taherifar started Nov 20, 2020 in Stabilizer

  

  

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  ZMP in MPC during stair climbing

  Saeed-Mansouri started Oct 22, 2020 in Model Predictive Control

  

  

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  Why isn't there an angular momentum task in whole body control?

  Saeed-Mansouri started Oct 30, 2020 in General

  

  

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  ZMP during the DSP

  Saeed-Mansouri started Oct 22, 2020 in Stabilizer

  

  

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  Plot measured rather than planned contact phases

  Saeed-Mansouri started Oct 1, 2020 in General

  

  

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  Anisotropic ZMP weights in MPC

  Saeed-Mansouri started Oct 1, 2020 in Model Predictive Control

  

  

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  Non-horizontal foot contacts

  Saeed-Mansouri started Oct 22, 2020 in Model Predictive Control

  

  

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  Pelvis orientation task contributes to balance control

  stephane-caron started Nov 29, 2019 in Stabilizer

  

  

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  What is the maximum time-delay in the experimental tests?

  Saeed-Mansouri started May 15, 2020 in General

  

  

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  Pause Walking unexpectedly triggered during motion

  Ahmadreza-Shahrokhshahi started Jul 17, 2020 in Code

  

  

  

  

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  Damping term in foot force difference control

  Saeed-Mansouri started May 21, 2020 in Stabilizer

  

  

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  Steps required for changing the simulation timestep in choreonoid

  ghost started May 9, 2020 in Code

  

  

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