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Feature #1167

open

Robot stability

Added by Jules Waldhart over 6 years ago. Updated over 6 years ago.

Status:
Feedback
Priority:
Normal
Assignee:
-
Start date:
2017-12-20
Due date:
% Done:

0%

Estimated time:

Description

implement robot stability constraints, starting with Pepper.

The generic case is the computation of center of mass and support polygon.
For Pepper, a quicker algorithm can be used as pre-check, by looking at the values of the knee and hip joints (Pepper can fall by simply bending forward or backward).

Additional remarks:
  • the constraints should be implemented in the p3d constraint system OR the p3d constraint system should be ported into move4d
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