How to standup process.
elpimous opened this issue · comments
Hi @grassjelly.
Testing champ with my bldc controllers, under a position mode.
My goal is a fully autonomous robot, so I need a robot who sit down and stand up automatically.
I see that your code only propose an already standed up robot.
Did you work on a stand up procedure?
Any idea of where I should start?
Hi you can do it programatically by publishing the body pose. You can take a look here: https://github.com/chvmp/champ_teleop/blob/master/champ_teleop.py#L114
@grassjelly
Correct. However, when sit down, body on ground, legs contact to ground are a bit larger than normal walk legs contact.
So, left/right end legs must be larger...
Any idea?
I'd love to be able to move each end legs separately...
Thanks Juan
you can take a look at this function https://github.com/chvmp/champ/blob/master/champ_base/src/quadruped_controller.cpp#L92-L104 . You can manipulate the legs by changing the target_foot_positions
hey @elpimous please close the issue if my answer solves your issue