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Ryan Lober
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Working on my PhD in Robotics and Machine Learning/Artificial Intelligence
Working on my PhD in Robotics and Machine Learning/Artificial Intelligence

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Hello again everyone!

In this video I give a more in depth introduction to the ISIRWholeBodyController and show some of the preliminary functionalities we have been working on over the past few weeks. The video is meant to be a sort of crash course in using the controller (for the courageous) so it is a bit long. 

Right now we are only in the fixed base case, but we are hard at work on debugging the controller in simulation for the floating base case. In the immediate future we will be working on a trajectory tracking layer for smoother movement.

Hope you enjoy!

P.S.
I look forward to testing it out with the new gaze control! +Ugo Pattacini +Alessandro Roncone 
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Hello again everyone!

In this video I give a more in depth introduction to the ISIRWholeBodyController and show some of the preliminary functionalities we have been working on over the past few weeks. The video is meant to be a sort of crash course in using the controller (for the courageous) so it is a bit long. 

Right now we are only in the fixed base case, but we are hard at work on debugging the controller in simulation for the floating base case. In the immediate future we will be working on a trajectory tracking layer for smoother movement.

Hope you enjoy!

P.S.
I look forward to testing it out with the new gaze control! +Ugo Pattacini +Alessandro Roncone 

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Some very preliminary results using the ISIRWholeBodyController: https://github.com/ocra-recipes/ocra-wbi-plugins. This is a whole-body torque controller we have been developing here at ISIR for the past few years.

This first test shows iCubParis02 performing a full body posture task, a torso posture task, left and right hand cartesian tasks and a right foot cartesian task - basically the iCub doing jazz hands. We didn't do it in this video but the movement remains compliant thanks to full torque control. Speaking of which, we spent the afternoon tuning torque gains but as you can see we still have some pretty serious "jiggle" in the hands and leg . If the left leg looks funny that is because it was deactivated for maintenance.

Sorry for the shaky video and commentary... It had been a long day of tuning. Hopefully we will post more videos soon as we test more of the controller functionalities.

Big thanks to +Daniele Pucci for helping us out and everyone else involved: Darwin Lau, Mingxing Liu, +Vincent Padois +Olivier Sigaud 
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