New features and legacy

[gabrielenava]

This issue is to document where to find new features and legacy code associated to Matlab/Simulink whole body control.

Main repository: whole-body-controllers

Available controllers

• impedance-control
• momentum-based-standup
• momentum-based-yoga
• utilities

Matlab functions library

• matlab library

Active Forks (new features)

• force-parametrization
• PhRI-standup
• exploit friction and walking controller

Legacy

• seesaw controller and integration-based-ikin
• automatic gain tuning
• elastic joints control
• Walkman control: https://github.com/gabrielenava/mex-wholebodymodel/tree/master/controllers/torqueBalancingWalkman and https://github.com/gabrielenava/WBI-Toolbox-controllers/tree/walkman
• joint-space control and centroidal transformation

Associated repositories

• idyntree-high-level-wrappers

[gabrielenava]

This documentation has been integrated in the README file of this repo. Here is the associated commit:

a02f62d