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v1.2

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@stephane-caron stephane-caron released this 11 Oct 08:52
· 248 commits to master since this release
v1.2
c141a6b
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Learn about vigilant mode.

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.

Added

  • Default footstep plans and settings for HRP-2Kai
  • Model-based DCM derivative estimator ("derivator")
  • Sample curved footstep plans
  • StationaryOffsetFilter class used by DCM derivator

Fixed

  • Initialization of reference pendulum ZMP
  • Stabilizer: damping term of foot force difference control
  • Stabilizer: formula of proportional term in desired CoM acceleration

Changed

  • 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
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