Commits · 938fb321e696db0b2c707c048e6d88d3b351c963 · Gepetto / quadruped-reactive-walking

May 28, 2021
- Work on main control loop and InvKin in base frame · 4cda56b4
  Pierre-Alexandre Leziart authored 3 years ago
  
  4cda56b4
May 25, 2021
- Add graphs to debug footsteps · a5dc880b
  Pierre-Alexandre Leziart authored 3 years ago
  
  a5dc880b
May 05, 2021
- Change control architecture to work in horizontal frame with reference... · c6542b87
  Pierre-Alexandre Leziart authored 3 years ago
  
  Change control architecture to work in horizontal frame with reference quantities instead of relying more on estimated quantities
  c6542b87
Apr 26, 2021
- Add yaml file to centralize the control of parameters · 841f01df
  Pierre-Alexandre Leziart authored 3 years ago
  
  841f01df
Apr 21, 2021
- Add load from .npz function for logs + Interactive figures to analyze the predicted trajectory · c68d4e14
  Pierre-Alexandre Leziart authored 3 years ago
  
  c68d4e14
Apr 20, 2021
- Add common N0_gait parameter to tune the number of spare lines in the gait matrix · 17ee9af7
  Pierre-Alexandre Leziart authored 3 years ago
  
  17ee9af7
- Small fixes after merge · 9a7edc59
  Pierre-Alexandre Leziart authored 3 years ago
  
  9a7edc59
- Finish switching from 5 columns to 4 columns for gait matrix (other blocks are now compatible) · 2afd964d
  Pierre-Alexandre Leziart authored 3 years ago
  
  2afd964d
Apr 12, 2021

paLeziart authored 3 years ago


* Code cleaning and refactor
* Add Types, FootTrajectoryGenerator, Gait, FootstepPlanner classes
* Rename quadruped-reactive-walking qrw

Authored-by: Fanny Risbourg <frisbourg@laas.fr>

d7627fc4

Mar 11, 2021
- Tweaking solo behaviour during experiments · 5bfe6a26
  odri authored 4 years ago
  
  5bfe6a26
Feb 16, 2021
- Possibility to run kalman controller instead of complementary filter · 34d1b9f5
  Pierre-Alexandre Leziart authored 4 years ago
  
  34d1b9f5
- Cleaning MPC + fix MPC default output (the one before the MPC finishes its computation) · 57fb6d44
  Pierre-Alexandre Leziart authored 4 years ago
  
  57fb6d44
Feb 10, 2021
- Add new plots to analyze trajectories of the MPC · 987f540d
  Pierre-Alexandre Leziart authored 4 years ago
  
  987f540d
Feb 09, 2021
- Add new loggers for cleaner logging process · aecf6419
  Pierre-Alexandre Leziart authored 4 years ago
  
  aecf6419