Stéphane on Locomotion - Comments: Computing torques to compensate gravity in humanoid robotshttps://scaron.info/blog/computing-torques-to-compensate-gravity-in-humanoid-robots.html/2022-11-11T15:35:00+01:00Posted by: Grégoire Passault2022-11-11T15:35:00+01:002022-11-11T15:35:00+01:00Grégoire Passaulttag:scaron.info,2022-11-11:/blog/computing-torques-to-compensate-gravity-in-humanoid-robots.html//comment-reply-friction-or-unilaterality-only<p>Hello,
The goal of the post was initially to give a gentle introduction on the problem of dispatching the wrench on the two legs, but yes, of course, ideally we'd like to have them as well! The unilaterality constraint gets easily violated by the pseudo-inverse and leads to unfeasible forces …</p><p>Hello,
The goal of the post was initially to give a gentle introduction on the problem of dispatching the wrench on the two legs, but yes, of course, ideally we'd like to have them as well! The unilaterality constraint gets easily violated by the pseudo-inverse and leads to unfeasible forces, I think they are the first obvious problem you want to address with inequalities. The contact wrench cone will indeed add more securities, ensuring that your robot don't slip or tilt.</p>Posted by: Seung Hyeon Bang2022-11-11T00:16:00-06:002022-11-11T00:16:00-06:00Seung Hyeon Bangtag:scaron.info,2022-11-11:/blog/computing-torques-to-compensate-gravity-in-humanoid-robots.html//comment-friction-or-unilaterality-only<p>Thank you for the great post! One question in this post is that I wonder if strictly speaking, we also need to consider <a href="https://scaron.info/robotics/wrench-friction-cones.html">contact wrench cone</a> constraints along with the unilaterality of contact force when we consider inequality constraints in the QP.</p>