This module implements a torque control balancing strategy. It computes the interaction forces at the feet in order to stabilise a desired centroidal momentum dynamics, which implies the tracking of a desired center-of-mass trajectory. A cost function penalizing high joint torques - that generate the feet forces - is added to the control framework.
For details see also: iCub whole-body control through force regulation on rigid non-coplanar contacts and Stability Analysis and Design of Momentum-Based Controllers for Humanoid Robots.
The folder contains the Simulink model torqueControlBalancing.mdl, which is generated by using Matlab R2017b.
Currently, supported robots are: iCubGenova04, iCubGenova02, icubGazeboSim, 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 initTorqueControlBalancing.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.