solo12_impedance_controller.py File Reference

Implement leg impedance controller and 4 leg control for solo12. More...

Classes
class	python.dg_tools.leg_impedance_control.solo12_impedance_controller.Solo12ComController
class	python.dg_tools.leg_impedance_control.solo12_impedance_controller.Solo12LegImpedanceController
	Impedance controller for single leg on solo12. More...
class	python.dg_tools.leg_impedance_control.solo12_impedance_controller.Solo12ImpedanceController
	Implements leg impedance controller for the solo12 robot. More...

Detailed Description

Implement leg impedance controller and 4 leg control for solo12.

Author

Julian Viereck

Avadesh Meduri

License:

License BSD-3-Clause

Copyright

Copyright (c) 2019, New York University and Max Planck Gesellschaft.

Date

2019-11-27 Differences between solo8 and solo12 code:

• Using 3-dim vector to specify desired position and velocity instead of 6-dim
• Use kp and kd value for each leg separately