This module implements a jerk-control balancing strategy that allows to include feedback from the measured contact forces into the control law. The control output is the momentum acceleration (or CoM jerk). Contact wrenches are parametrized so that the parametrized wrenches always respect the contact stability constraints.
For details see also: Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback.
The folder contains the Simulink model jerkControl.mdl, which is generated by using Matlab R2017b.
Currently, supported robots are: iCubGenova04, iCubGazeboV2_5.
For information on how to use the controllers both in simulation and with the real robot, please refer to the wiki of the repo.
At start, the module calls the initialization file initJerkControl.m. Once opened, this file contains some configuration variables. Please follow the instruction inside the script to properly configure your simulation.
The gains and references for a specific robot (specified by the variable YARP_ROBOT_NAME) or a specific demo can be found in the folder app/robots/YARP_ROBOT_NAME.