how can velocity and torque controls be executed simultaneously

X-Series and R-Series Actuators
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zhuwei996
Posts: 4
Joined: Wed Dec 09, 2020 1:58 am
Location: Japan

how can velocity and torque controls be executed simultaneously

Post by zhuwei996 » Wed Feb 10, 2021 3:52 am

Hi, Hebi Robotics,

I am now using IGOR. When I am reading the official python code, there is one question confusing me a lot.
For the wheel actuators, velocity and torque commands are sent simultaneously.
I wonder whether these two kinds of commands confict with each other.
In my opinion, these two modes should be executed separately.
Actuators are not my research field, so I feel confused.
Thanks a lot for your attentions!

Wei ZHU
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florian_enner
HEBI Official
Posts: 14
Joined: Wed Mar 25, 2020 11:31 am
Location: Austria

Re: how can velocity and torque controls be executed simultaneously

Post by florian_enner » Wed Feb 10, 2021 9:24 am

You are right that this is an unconventional way to do it. Simultaneous control of position / velocity / torque can provide additional information to the system that can improve tracking without requiring very stiff gains. The following YouTube tutorial explains the combination in more detail: https://youtu.be/9WjNo5DCtfg

For Igor there is also an impedance controller running in addition to the velocity controller to keep the wheels centered. The video https://youtu.be/7JrBDRNPxv4 talks about the development process and the impedance controller to keep the legs together (at 06:50 min).

Please let us know in case things are still unclear.
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