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
how can velocity and torque controls be executed simultaneously
- florian_enner
- HEBI Official
- Posts: 33
- Joined: Wed Mar 25, 2020 11:31 am
- Location: Austria
Re: how can velocity and torque controls be executed simultaneously
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.
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.