rh5_single_leg_hybrid.cpp File Reference

#include <solvers/qpoases/QPOasesSolver.hpp>
#include <robot_models/hyrodyn/RobotModelHyrodyn.hpp>
#include <robot_models/pinocchio/RobotModelPinocchio.hpp>
#include <core/RobotModelConfig.hpp>
#include <scenes/velocity_qp/VelocitySceneQP.hpp>
#include <controllers/CartesianPosPDController.hpp>

Functions
int	main ()

Function Documentation

main()

int main

(

)

Velocity-based example, exact same problem as in the rh5_single_leg example. The only difference is that here we use the hybrid robot model, i.e. we consider the parallel structures in the mechanical structure and solve the WBC problem in actuation space. The output is thus not a velocity vector of the independent joints, but the velocities of the actual actuators. In case of the RH5 leg, there are three such parallel structures:

• The Hip3 joint is driven by a linear actuator
• The Knee joint is driven by a linear actuator
• The ankle structure is a parallel mechanism with two linear actuators