Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Apply external push/disturbance on the robot body or its CoM? #36

Open
Ahmadreza-Shahrokhshahi opened this issue Aug 24, 2021 · 0 comments

Comments

@Ahmadreza-Shahrokhshahi
Copy link

Ahmadreza-Shahrokhshahi commented Aug 24, 2021

Hi,

I want to apply a certain amount of external push/disturbance to the walking robot in Choreonoid at a specific time as a force vector. This external force vector could be applied to the trunk, pelvis or the CoM. I have also checked Choreonoid forums, but I wanted to know how to apply it specifically in lipm_walking_control platform directly. Furthermore, in the forums, they have mentioned that there is a sample in python, but it is a little confusing, and since applying external disturbance is a very common problem, it would be great if we come up with a straightforward solution to it here.

Thanks

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant