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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

[vhip_walking_controller v0.8] - 2019/09/22

Added

  • Desired wrench can be computed with both VHIP or LIPM reduced models
  • HRP4ForceCalibrator to decouple normal force and torques while standing
  • Stability condition for DCM proportional gain k > 1
  • Vertical CoM admittance control to regulate virtual leg stiffness of VHIP

Changed

  • DCM proportional and integral gains have been normalized by omega = 3.5455.

[lipm_walking_controller v1.1] - 2019/04/15

This release corresponds to the stair climbing and walking control that ran in the final demonstrator of the COMANOID project.

[lipm_walking_controller v1.0] - 2018/10/17

First public release of the controller.