Somersault and hover, side-perch v1 with MPC #33
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Owner
avikde
commented
Mar 22, 2019
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avikde
commented
- try and get dt higher
- implement u damping
- changeable weights to emphasize positions after flip (or outer loop)
- Fix issue with u[1] being way too high sometimes causing phi to blow up. it should be being constrained?
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nevermind the updating is definitely having some effect, but the MPC is not stabilizing appropriately |
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It is sensitive to:
Transition to hover phase: should switch to sequential composition |
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Partially working sideperch but blows up
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2 tasks
avikde
changed the title
Results:Somersault+hover
Side perch:
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