way to control the force with which robot foot stepping on the ground
rua0ra1 opened this issue · comments
Hi Miguel,
I am implementing the champ on the real robot. But, I have observed very high ground reaction force on feet whenever foot is in contact. I am wondering is there way to control the force with which robot foot stepping on the ground. Thank you and l really appreciate it if you can answer my question.
Hey @RamCharanThota . That's the current limitation of the default position controller. One way you can limit these GRFs is to do a compliant controller on the joint level.
Thanks @grassjelly for answering my question. I really appreciate it.
Hi Miguel (@grassjelly),
Sorry to bother you again. I have read some papers on leg controllers.I come across impedance control implemented (which is mentioned in MIT cheetah paper suggested by you). I don't have much experience in the controls. I am wondering whether I can use this impedance control to control the ground reaction forces. If not , can you suggest any journal or resource which can help me to limit these GRFs. Thank you and Looking forward to your reply.
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hey @RamCharanThota this might be a good start https://simplefoc.com
closing this for now
thank you Miguel (@grassjelly )