sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
joint_torque_controller_conf.py
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1 # -*- coding: utf-8 -*-
2 """
3 Created on Mon Feb 9 13:55:16 2015
4 @author: adelpret
5 """
6 import numpy as np
7 
8 NJ = 32
9 
10 COULOMB_FRICTION_COMPENSATION_PERCENTAGE = 0.0
11 k_p_torque = np.array(NJ * [0.5])
12 # torque control proportional gains
13 k_d_torque = np.array(NJ * [0.0])
14 # torque control derivative gains
15 k_i_torque = np.array(NJ * [3.0])
16 # torque control integral gains
17 k_d_vel = np.array(NJ * [0.0])
18 # velocity feedback gains
19 k_i_vel = np.array(NJ * [0.0])
20 # velocity feedback gains
21 torque_integral_saturation = np.array(NJ * [0.0])
22 poly_sign_dq = 3
23 # order of polynomial to approximate Coulomb friction around zero velocity
24 alpha_leaking = np.array(
25  [
26  75.0,
27  75.0,
28  75.0,
29  75.0,
30  75.0,
31  75.0,
32  75.0,
33  75.0,
34  75.0,
35  75.0,
36  75.0,
37  75.0,
38  0.0,
39  0.0,
40  0.0,
41  0.0,
42  0.0,
43  0.0,
44  0.0,
45  0.0,
46  0.0,
47  0.0,
48  0.0,
49  0.0,
50  0.0,
51  0.0,
52  0.0,
53  0.0,
54  0.0,
55  0.0,
56  0.0,
57  0.0,
58  ]
59 )
60 
61 # # PARAMETERS OF R_hip_y JOINT 0
62 # k_p_torque[0] = 12.0;
63 # # PARAMETERS OF R_hip_r JOINT 1
64 # k_p_torque[1] = 5; #15.0 # could easily go up to 20, but it's a bit less stable
65 # # PARAMETERS OF R_hip_p JOINT 2
66 # k_p_torque[2] = 6; #with delay 30 ms
67 # # PARAMETERS OF R_knee JOINT 3
68 # k_p_torque[3] = 10.0; # with 12 it starts vibrating at low velocity
69 # # PARAMETERS OF R_ankle pitch JOINT 4
70 # k_p_torque[4] = 10.0; # 10 feels good, but maybe i could go higher
71 # # PARAMETERS OF R_ankle roll JOINT 5
72 # k_p_torque[5] = 15.0; # could go higher, but it feels already good
73 # # PARAMETERS OF Left hip pitch JOINT 8
74 # k_p_torque[8] = 6.0; # with delay 20 ms