The physics of a task dictate how fast a controller should run to perform it. Balancing, in particular, is a rather low-frequency task: it was demonstrated (in theory and on real hardware) that a DCM-based controller can balance an adult-size humanoid while running at only 10 Hz. In this talk, we will discuss how this property allows us to write more control-critical code in a high-level language like Python. We will illustrate our points with practical sub-modules from two controllers: the LIPM walking controller for HRP humanoids, implemented with mc_rtc, and the Pink controller for the Upkie wheeled-biped, implemented with Vulp (🦊).
You can subscribe to this Discussion's atom feed to stay tuned.
Feel free to post a comment by e-mail using the form below. Your e-mail address will not be disclosed.