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erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

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Additional motor torques

RodrigoMA93 opened this issue · comments

commented

Is not an issue, just for a better understanding, how do you calculate the additional motor torques that are used in the Hybrid Control of your robot. Do you do a substraction of the desired motor torques minus the actual motor torques?
Selección_034

commented

The additional torques are computed using convex MPC, for the stance feet. In other words: the swing feet use position control (PD) while stance feet using torque control through those 'additional_torques).