All notable changes to this project will be documented in this file.
- Configuration for the JVRC-1 robot model
- Doxygen API documentation
- ModelPredictiveControl: log ZMP and CoM velocity references
- Stabilizer: alternative DCM gain tuning by pole placement under ZMP lag model
- Handle corner case where the DSP duration is zero
- Contact: removed
t(),b()andn()shorthands - Moved torso pitch setting to "torso" dictionary of robot config
- Moved world definitions to
utils/world.h - Renamed ModelPredictiveControlSolution to Preview
- Switch license to BSD 2-clause for compatibility with other mc_rtc projects
- Updated dependencies
The main change in this release is the switch from ZMP to DCM derivative term in DCM tracking, following Biped locomotion control for uneven terrain with narrow support region (Morisawa et al., 2014). The DCM derivative is computed from DCM and ZMP measurements using a model-based estimator.
- Default footstep plans and settings for HRP-2Kai
- Model-based DCM derivative estimator ("derivator")
- Sample curved footstep plans
- StationaryOffsetFilter class used by DCM derivator
- Initialization of reference pendulum ZMP
- Stabilizer: damping term of foot force difference control
- Stabilizer: formula of proportional term in desired CoM acceleration
- Cleaned up legacy code
- Footstep plans are now robot-specific
- Removed legacy mass estimation phase
- Stabilizer: switch from ZMP to DCM derivative term in DCM tracking
- Updated CMake configuration
- Updated copra and mc_rtc dependencies
This release corresponds to the stair climbing and walking control that ran in the final demonstrator of the COMANOID project.
First public release of the controller.