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controller.m
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controller.m
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function u = controller(t,x,C)
%% Control Version
global controlVersion q_desired
switch controlVersion
%% Nominal PD Control
case 0
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
q1_hip = q(4);
q1_knee = q(5);
q2_hip = q(6);
q2_knee = q(7);
dq1_hip = dq(4);
dq1_knee = dq(5);
dq2_hip = dq(6);
dq2_knee = dq(7);
q1_hip_d = q1_hip0;
q1_knee_d = q1_knee0;
q2_hip_d = q2_hip0;
q2_knee_d = q2_knee0;
k1 = -1000; k2 = -500; k3 = -1000; k4 = -200;
dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
u = [k1*(q1_hip-q1_hip_d) + dk1*dq1_hip; ...
k2*(q1_knee-q1_knee_d) + dk2*dq1_knee; ...
k3*(q2_hip-q2_hip_d) + dk3*dq2_hip; ...
k4*(q2_knee-q2_knee_d) + dk4*dq2_knee];
%% Gain Scheduled PD
case 1
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
q1_hip = q(4);
q1_knee = q(5);
q2_hip = q(6);
q2_knee = q(7);
dq1_hip = dq(4);
dq1_knee = dq(5);
dq2_hip = dq(6);
dq2_knee = dq(7);
q1_hip_d = q1_hip0;
q1_knee_d = q1_knee0;
q2_hip_d = q2_hip0;
q2_knee_d = q2_knee0;
k1 = -1000; k2 = -500; k3 = -1000; k4 = -200;
dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
%% get to kick position
if t > .05
q2_hip_d = pi+pi/3;
q2_knee_d = 0;
q1_knee_d = pi/8;
q1_hip_d = 3*pi/4;
% if t > .1
% q1_knee_d = pi/8;
% q1_hip_d = 3*pi/4;
% q2_hip_d = pi+pi/8;
% q2_knee_d = pi/4;
% end
k1 = -700; k2 = -600; k3 = -1200; k4 = -1200;
dk1 = -200; dk2 = -200; dk3 = -200; dk4 = -200;
end
if t>.3
q1_hip_d = pi+pi/6;
q1_knee_d = pi/6;
q2_hip_d = pi/6;
q2_knee_d = pi - q2_hip_d;
k1 = -900; k2 = -900; k3 = -600; k4 = -700;
dk1 = -100; dk2 = -100; dk3 = -80; dk4 = -50;
end
%% hard coded kick, cart at 1.5, still
% if t > .05
% q1_hip_d = pi + pi/4;
% q1_knee_d =0;
% q2_hip_d = 3*pi/4;
% q2_knee_d = 0;
% end
% k1 = -5000; k2 = -5000; k3 = -1000; k4 = -1500;
% dk1 = -200; dk2 = -200; dk3 = -70; dk4 = -30;
%
% if t>.2
% q1_hip_d = pi+pi/8 ;
% q1_knee_d = pi/8;
% q2_hip_d = pi - pi/8;
% q2_knee_d = pi/8;
% k1 = -1000; k2 = -500; k3 = -1000; k4 = -200;
% dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
% end
%%
% if t>.35
% q1_hip_d = pi-1/3*pi ;
% q1_knee_d = 0/8*pi;
% q2_hip_d = pi +1/6*pi;
% q2_knee_d = 1/6*pi;
% k1 = -500; k2 = -500; k3 = -500; k4 = -500;
% dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
% end
% if t>.5
% q1_hip_d = pi-1/3*pi ;
% q1_knee_d = 1/3*pi;
% q2_hip_d = pi +1/6*pi;
% q2_knee_d = 1/6*pi;
% k1 = -500; k2 = -500; k3 = -500; k4 = -500;
% dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
% end
u = [k1*(q1_hip-q1_hip_d) + dk1*dq1_hip; ...
k2*(q1_knee-q1_knee_d) + dk2*dq1_knee; ...
k3*(q2_hip-q2_hip_d) + dk3*dq2_hip; ...
k4*(q2_knee-q2_knee_d) + dk4*dq2_knee];
u = u.*[1;1;1;1];
%% Testing
case 1.5
%constants;
global kickStart kickEnd mcart p_target
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
q1_hip = q(4);
q1_knee = q(5);
q2_hip = q(6);
q2_knee = q(7);
dq1_hip = dq(4);
dq1_knee = dq(5);
dq2_hip = dq(6);
dq2_knee = dq(7);
q1_hip_d = q1_hip0;
q1_knee_d = q1_knee0;
q2_hip_d = q2_hip0;
q2_knee_d = q2_knee0;
k1 = -1000; k2 = -500; k3 = -1000; k4 = -200;
dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
%% get to kick position
timestart = .05;
if t > timestart
offset2 = pi/8;
offset1 = pi/8;
inner_angle_1 = 1/4*pi;
inner_angle_2 = 3/8*pi;
q2_hip_d = pi/2+inner_angle+offset2;
q2_knee_d = pi-2*inner_angle_2;
q1_hip_d = pi/2+inner_angle-offset1;
q1_knee_d = pi-2*inner_angle_1;
k1 = -600; k2 = -600; k3 = -1200; k4 = -1200;
dk1 = -200; dk2 = -200; dk3 = -200; dk4 = -200;
end
if t > .4+.1
torso_angle = pi/8;
offset2 = pi/2;
% offset1 = pi/8;
offset1 = -1*pi/8;
inner_angle_1 = 1/3*pi;
inner_angle_2 = 1/8*pi;
% q2_hip_d = pi/2+inner_angle+offset2;
q2_hip_d = pi/2+inner_angle-offset2;
q2_knee_d = pi-2*inner_angle_2;
q1_hip_d = pi/2+inner_angle-offset1+torso_angle;
q1_knee_d = pi-2*inner_angle_1;
offset2 = 3*pi/4;
inner_angle_2 = 1/8*pi;
q2_hip_d = pi/2+inner_angle-offset2+torso_angle;
q2_knee_d = pi-2*inner_angle_2;
%
% k1 = -700; k2 = -600; k3 = -1200; k4 = -1200;
% dk1 = -200; dk2 = -200; dk3 = -200; dk4 = -50;
k1 = -700; k2 = -1200; k3 = -1200; k4 = -1200;
dk1 = -100; dk2 = -400; dk3 = -200; dk4 = -50;
end
%was .7
% if t > .6
%
% offset1 = pi/3;
% inner_angle_1 = 1/4*pi;
% offset2 = 3*pi/4;
% inner_angle_2 = 1/8*pi;
% q2_hip_d = pi/2+inner_angle-offset2;
% q2_knee_d = pi-2*inner_angle_2;
% q1_hip_d = pi/2+inner_angle+offset1;
% q1_knee_d = pi-2*inner_angle_1;
%
% % k1 = -1200; k2 = -1200; k3 = -1200; k4 = -1200;
% % dk1 = -200; dk2 = -200; dk3 = -200; dk4 = -50;
% k1 = -1200; k2 = -1200; k3 = -1200; k4 = -1200;
% dk1 = -200; dk2 = -500; dk3 = -200; dk4 = -50;
% end
% if t>.3
% q1_hip_d = pi+pi/6;
% q1_knee_d = pi/6;
% q2_hip_d = pi/6;
% q2_knee_d = pi - q2_hip_d;
% k1 = -900; k2 = -900; k3 = -600; k4 = -700;
% dk1 = -100; dk2 = -100; dk3 = -80; dk4 = -50;
% end
%% hard coded kick, cart at 1.5, still
% if t>1.15
if t>.85+.1 -.05 - .05 %<---- this one works
torso_angle = pi/4;
if p_target(2)<0
target_angle = 0;
else
target_angle = target_angle_gen(x);
end
% kick_angle = rad2deg(kick_angle_gen(q))
% target_angle = 0;
% kick_angle = rad2deg(kick_angle_gen(q))
q1_hip_d = pi + torso_angle -pi/8;%messing around
q1_knee_d =pi/16;%pi/16-pi/16+1/3*pi;
q2_hip_d = pi/2;
q2_hip_d = 2*pi/4 + torso_angle;
q2_hip_d = pi/2-q(3)-q2_knee/2-target_angle;
q2_knee_d = 0;
k1 = -1000; k2 = -1000; k3 = -1000; k4 = -1000;
dk1 = -200; dk2 = -200; dk3 = -70; dk4 = -30;
dk1 = -200; dk2 = -200; dk3 = -30; dk4 = -30;
dk1 = -30; dk2 = -100; dk3 = -30; dk4 = -30;
dk1 = -30; dk2 = -200+80; dk3 = -50; dk4 = -50 * max((mcart/10),1);
k3 = -5000-2000;
if abs(q2_knee)<pi/8
q2_hip_d = max(pi/2+pi/6,q2_hip_d);
k3 = -2000;
end
if kickStart ==1 && kickEnd ==1
q1_hip_d = pi + -q(3);
k2 = 0;
end
k3 = k3-3000;
dk4 = -100 * max((mcart/10),1);
dk4 = -50 * max((mcart/10),1); % rational
q2_hip_d = max(pi/6 , min(7*pi/8, q2_hip_d));
end
% if t>1.3
landing = 0;
if t>1%1.1%1.2%.95
q1_hip_d = pi+pi/8 ;
q1_knee_d = pi/8;
q2_hip_d = pi - pi/4;
q2_knee_d = pi/4;
k1 = -500; k2 = -500; k3 = -500; k4 = -500;
dk1 = -200; dk2 = -100; dk3 = -200; dk4 = -100;
% Messing around to get softer landing
k1 = -1000; k2 = -500; k3 = -1000; k4 = -500;
dk1 = -500; dk2 = -50; dk3 = -50; dk4 = -50;
landing = 1;
end
pf1 = pFoot1_gen(q);
pf2 = pFoot2_gen(q);
threshfoot = .0;
% if pf1(2)<=threshfoot && pf2(2)<=threshfoot && landing ==1
% controlVersion = 2;
% end
%%
% if t>.35
% q1_hip_d = pi-1/3*pi ;
% q1_knee_d = 0/8*pi;
% q2_hip_d = pi +1/6*pi;
% q2_knee_d = 1/6*pi;
% k1 = -500; k2 = -500; k3 = -500; k4 = -500;
% dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
% end
% if t>.5
% q1_hip_d = pi-1/3*pi ;
% q1_knee_d = 1/3*pi;
% q2_hip_d = pi +1/6*pi;
% q2_knee_d = 1/6*pi;
% k1 = -500; k2 = -500; k3 = -500; k4 = -500;
% dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
% end
u = [k1*(q1_hip-q1_hip_d) + dk1*dq1_hip; ...
k2*(q1_knee-q1_knee_d) + dk2*dq1_knee; ...
k3*(q2_hip-q2_hip_d) + dk3*dq2_hip; ...
k4*(q2_knee-q2_knee_d) + dk4*dq2_knee];
u = u.*[1;1;1;1];
% Saturator
mt = 500;
for i = 1:4
u(i) = max(-mt,min(u(i),mt));
end
%% Contact Force Optimization
case 2
%constants;
global ie ie_r t_ie
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0; C.q1_knee0; C.q2_hip0; C.q2_knee0];
% Compute positional force wrench
r = robot_CoM_gen(x, C);
r_des = robot_CoM_gen(q0, C);
dr = robot_dCoM_gen(x);
dr_des = [0; 0]; % magic number!
%r_des = [q_desired(1);q_desired(2)]; %CCC trying out to define COM position
r_des = r_des + (t > 2)*[0.1; 0];
kp = [300 0; ...
0 300];
kd = [100 0; ...
0 100];
ki = [100 0; ...
0 100];
%Jared Messing with it
% r_des(1) = r(1);
% r_des(2) = r_des(2)-.1;
e = r - r_des;
de = dr - dr_des;
if (t > t_ie)
ie = ie + e*(t-t_ie);
end
f_b = -kp*(e) -kd*(de) -ki*(ie);
f_f = [0; C.m_total*C.g*0.75];
f_GA = -f_b - f_f;
% Compute rotational wrench
th = pi/2 - q(3); % converting to horizontal angle reference
th_des = pi/2 - C.q_torso0;
omega = -dq(3); % converting to horizontal angle reference
k_r = 50;
k_damp = 20;
k_integral = 20;
e_r = th-th_des;
if (t > t_ie)
ie_r = ie_r + e_r*(t-t_ie);
t_ie = t;
end
tau_GA = k_r*(e_r) + k_damp*omega + k_integral*ie_r;
% Combine into wrench
F_GA = [f_GA; tau_GA];
% Compute grasp map
pF1 = pFoot1_gen(x) - r;
pF2 = pFoot2_gen(x) - r;
G_C = [1 0 1 0; ...
0 1 0 1; ...
-pF1(2) pF1(1) -pF2(2) pF2(1)];
% Optimization
n_fc = 4;
AAeq = G_C;
bbeq = F_GA;
mu_s = C.mu_s;
AA = [1 mu_s 0 0; ...
0 0 1 mu_s; ...
-1 mu_s 0 0; ...
0 0 -1 mu_s];
bb = zeros(4,1);
HH = [ 5 0 0 0 ;
0 1 0 0 ;
0 0 5 0 ;
0 0 0 1 ];
ff = zeros(n_fc,1);
l_b = -10000*ones(n_fc,1);
u_b = [10000; 0; 10000; 0];
xx0 = [0; -C.m_total*C.g/2; 0; -C.m_total*C.g/2];
options = optimset('Display', 'off');
f_c = quadprog(HH,ff,AA,bb,AAeq,bbeq,l_b,u_b,xx0,options);
tau_passer = @(f) tauTotal(f,x);
diff_between = 0;
f_c = fmincon(tau_passer , xx0,AA,bb,AAeq,bbeq,l_b,u_b,@faux_function ,options);
if isempty(f_c)
f_c = xx0;
disp(t)
end
% Compute motor torques
%f_c = [0; -m_total*g/2; 0; -m_total*g/2];
tau = JSt2_gen(x)'*f_c;
u = tau(4:end);
case 3
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
q0 = [x0; y0; q_torso0; q1_hip0; q1_knee0; q2_hip0; q2_knee0];
% Compute positional force wrench
r = robot_CoM_gen(x);
r_des = robot_CoM_gen(q0)+[0;0];
dr = robot_dCoM_gen(x);
dr_des = [0; 0]; % magic number!
kp = [500 0; ...
0 500];
kd = [100 0; ...
0 100];
f_b = -kp*(r - r_des) -kd*(dr - dr_des);
f_f = [0; C.m_total*C.g];
f_GA = -f_b - f_f;
% Compute rotational wrench
th = pi/2 - q(3); % converting to horizontal angle reference
th_des = pi/2 - q_torso0;
omega = -dq(3); % converting to horizontal angle reference
k_r = 50;
k_damp = 20;
tau_GA = k_r*(th-th_des) + k_damp*omega;
% Combine into wrench
F_GA = [f_GA; tau_GA];
% Compute grasp map
pF1 = pFoot1_gen(x) - r;
pF2 = pFoot2_gen(x) - r;
G_C = [1 0 1 0; ...
0 1 0 1; ...
-pF1(2) pF1(1) -pF2(2) pF2(1)];
G_C = [1 0 ; ...
0 1 ; ...
-pF1(2) pF1(1)];
% Optimization
n_fc = 4;
AAeq = G_C;
bbeq = F_GA;
mu_s = C.mu_s;
AA = [1 mu_s; ...
% 0 0 1 mu_s; ...
-1 mu_s]; ...
% 0 0 -1 mu_s];
bb = zeros(n_fc,1);
HH = [ 5 0 0 0 ;
0 1 0 0 ;
0 0 5 0 ;
0 0 0 1 ];
ff = zeros(n_fc,1);
l_b = -10000*ones(n_fc,1);
u_b = [10000; 0];
% xx0 = [0; -m_total*g/2; 0; -m_total*g/2];
xx0 = [0; -C.m_total*C.g];
options = optimset('Display', 'off');
%f_c = quadprog(HH,ff,AA,bb,AAeq,bbeq,l_b,u_b,xx0,options);
tau_passer = @(f) tauTotal(f,x);
diff_between = 0;
f_c = fmincon(tau_passer , xx0,AA,bb,AAeq,bbeq,l_b,u_b,@faux_function ,options);
if isempty(f_c)
f_c = xx0;
disp(t)
end
% Compute motor torques
%f_c = [0; -m_total*g/2; 0; -m_total*g/2];
f_c = [f_c;40;40];
tau = JSt2_gen(x)'*f_c ;
u = [tau(4:end)];
%% slow move
case 4
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
q0 = [x0; y0; q_torso0; q1_hip0; q1_knee0; q2_hip0; q2_knee0];
% Compute positional force wrench
r = robot_CoM_gen(x)
r_des = robot_CoM_gen(q0)+ [.3*t;.08*t];
dr = robot_dCoM_gen(x) ;
dr_des = [0; 0]; % magic number!
kp = [500 0; ...
0 500];
kd = [100 0; ...
0 100];
kd = [10 0; ...
0 100];
f_b = -kp*(r - r_des) -kd*(dr - dr_des);
f_f = [0; C.m_total*C.g];
f_GA = -f_b - f_f;
% Compute rotational wrench
th = pi/2 - q(3); % converting to horizontal angle reference
th_des = pi/2 - q_torso0;
omega = -dq(3); % converting to horizontal angle reference
k_r = 50;
k_damp = 20;
tau_GA = k_r*(th-th_des) + k_damp*omega;
% Combine into wrench
F_GA = [f_GA; tau_GA];
% Compute grasp map
pF1 = pFoot1_gen(x) - r;
pF2 = pFoot2_gen(x) - r;
G_C = [1 0 1 0; ...
0 1 0 1; ...
-pF1(2) pF1(1) -pF2(2) pF2(1)];
% Optimization
n_fc = 4;
AAeq = G_C;
bbeq = F_GA;
mu_s = C.mu_s;
AA = [1 mu_s 0 0; ...
0 0 1 mu_s; ...
-1 mu_s 0 0; ...
0 0 -1 mu_s];
bb = zeros(4,1);
HH = [ 5 0 0 0 ;
0 1 0 0 ;
0 0 5 0 ;
0 0 0 1 ];
ff = zeros(n_fc,1);
l_b = -10000*ones(n_fc,1);
u_b = [10000; 0; 10000; 0];
xx0 = [0; -C.m_total*C.g/2; 0; -C.m_total*C.g/2];
options = optimset('Display', 'off');
f_c = quadprog(HH,ff,AA,bb,AAeq,bbeq,l_b,u_b,xx0,options);
tau_passer = @(f) tauTotal(f,x);
diff_between = 0;
f_c = fmincon(tau_passer , xx0,AA,bb,AAeq,bbeq,l_b,u_b,@faux_function ,options);
if isempty(f_c)
f_c = xx0;
disp(t)
end
% Compute motor torques
%f_c = [0; -m_total*g/2; 0; -m_total*g/2];
tau = JSt2_gen(x)'*f_c;
u = tau(4:end);
case 5 %TASK SPACE CONTROLLER
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
pSw = pSw_gen(x); % current position of end effector
dpSw = dpSw_gen(x); % current velocity of end effector
%pSw = robot_CoM_gen_2(x);
%dpSw = robot_dCoM_gen(x);
omega1 = 0; %omega_hip
omega2 = 0; %omega_knee
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0-0.5; C.q1_knee0+0.5; C.q2_hip0; C.q2_knee0;0;0;0;0;0;0;0];
%x_des = q0 + [0;0;0;0;0; omega1*t; omega2*t;0;0;0;0;0;omega1; omega2];
t_con = 8;
x_mag = 1.2;
y_mag = 0.7;
q_des = [x_mag*sin(t_con*t)*(t<pi/2/t_con) + x_mag*(t>=pi/2/t_con);y_mag*sin(t_con*t)*(t<pi/2/t_con) + y_mag*(t>=pi/2/t_con)];%.064286];%pSw_gen(x_des); %q_des = desired position of the end effector
%dq_des = desired velocity of the end effector
dq_des = [x_mag*t_con*cos(t_con*t)*(t<pi/2/t_con);y_mag*t_con*cos(t_con*t)*(t<pi/2/t_con)];%[omega1*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t) + (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t);...
%-omega1*.5*cos(pi/2-q_torso0-q2_hip0-omega1*t) - (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t)];
t_con = 0.3;
global p_target t_start s_start
pSw0 = pSw_gen(s_start);
px0 = pSw0(1);
py0 = pSw0(2);
if (t < t_start + t_con)
q_des = [px0 + (t-t_start)/t_con*(p_target(1)-px0); py0 + (t-t_start)/t_con*(p_target(2)-py0)];
dq_des = [1/t_con*(p_target(1)-px0); 1/t_con*(p_target(2)-py0)];
else
q_des = [p_target(1); p_target(2)];
dq_des = [0; 0];
%q_des = pSw;
%dq_des = [0.6/0.2; -0.6/0.2];
end
A = D_gen(x);
B = C_gen(x)*dq;
G = G_gen(x);
J = JSw_gen(x); % jacobian for end effector
%J = JCoM_gen(x);
lambda = inv(J * inv(A) * J');
Jbar = inv(A) * J' * lambda;
mu = Jbar' * B - lambda * dJSw_gen(x) * dq;
%mu = Jbar' * B - lambda * dJCoM_gen(x) * dq;
p = Jbar' * G;
kp = 45+30; kd = 20; % gains for this controller
term = lambda * (-kp*(pSw - q_des) - kd*(dpSw -dq_des));
F = mu + p + term;
% null space term
c_des = [0; 0.064286];
dc_des = [0; 0];
kp_c = 10; kd_c = 10;
kp_c = 100; kd_c = 100; % Jared testing
N = eye(n) - Jbar*J;
pC = robot_CoM_gen_2(x);
dpC = robot_dCoM_gen(x);
isolated_q = [q(1:5);q0(6:7)]; %jared testing
isolated_dq = [dq(1:5);0;0]; % Jared Testing
null_term = -kp_c*(q - q0(1:n)) -kd_c*(dq);%B + G + A*(-kd_c*(q - q0(1:n)));
null_term = -kp_c*(isolated_q - q0(1:n)) -kd_c*(isolated_dq);%B + G + A*(-kd_c*(q - q0(1:n)));
% null_term = zeros(7,1);
tau = J' * F + N'*null_term;
u = tau(4:end);
% Jtor =
% Trying to get stance foot
case 6
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
q1_hip = q(4);
q1_knee = q(5);
q2_hip = q(6);
q2_knee = q(7);
dq1_hip = dq(4);
dq1_knee = dq(5);
dq2_hip = dq(6);
dq2_knee = dq(7);
q1_hip_d = q_desired(4);
q1_knee_d = q_desired(5);
q2_hip_d = q_desired(6);
q2_knee_d = q_desired(7);
k1 = -1000; k2 = -500; k3 = -1000; k4 = -200;
dk1 = -20; dk2 = -20; dk3 = -70; dk4 = -30;
u = [k1*(q1_hip-q1_hip_d) + dk1*dq1_hip; ...
k2*(q1_knee-q1_knee_d) + dk2*dq1_knee; ...
k3*(q2_hip-q2_hip_d) + dk3*dq2_hip; ...
k4*(q2_knee-q2_knee_d) + dk4*dq2_knee];
case 7 %TASK SPACE CONTROLLER 2
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
pSw = pSw_gen(x); % current position of end effector
dpSw = dpSw_gen(x); % current velocity of end effector
%pSw = robot_CoM_gen_2(x);
%dpSw = robot_dCoM_gen(x);
omega1 = 0; %omega_hip
omega2 = 0; %omega_knee
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0-0.5; C.q1_knee0+0.5; C.q2_hip0; C.q2_knee0;0;0;0;0;0;0;0];
%x_des = q0 + [0;0;0;0;0; omega1*t; omega2*t;0;0;0;0;0;omega1; omega2];
t_con = 8;
x_mag = 1.2;
y_mag = 0.7;
t_con = 10; % Jared testing
x_mag = 1.2; % Jared testing
y_mag = 0.5; % Jared testing
q_des = [x_mag*sin(t_con*t)*(t<pi/2/t_con) + x_mag*(t>=pi/2/t_con);y_mag*sin(t_con*t)*(t<pi/2/t_con) + y_mag*(t>=pi/2/t_con)];%.064286];%pSw_gen(x_des); %q_des = desired position of the end effector
%dq_des = desired velocity of the end effector
dq_des = [x_mag*t_con*cos(t_con*t)*(t<pi/2/t_con);y_mag*t_con*cos(t_con*t)*(t<pi/2/t_con)];%[omega1*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t) + (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t);...
%-omega1*.5*cos(pi/2-q_torso0-q2_hip0-omega1*t) - (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t)];
inner_angle_0 = (pi-q0(7))/2;
inner_angle = (pi-q(7))/2;
from_H_0 = q0(6)-inner_angle_0;
inner_angle_f =pi/10;
global p_target
if p_target(2)<0
target_angle = 0;
else
target_angle = target_angle_gen(x);
end
t_tot_d = .3;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle_0)/t_tot_d;
if t > t_tot_d
inner_angle_f = pi/2*.9;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t-t_tot_d,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle)/.03;
end
d_from_H_des = (-target_angle - from_H_0)/t_tot_d;
if t > t_tot_d
d_from_H_des = target_angle-kick_angle_gen(x);
end
from_H_des = from_H_0 + (-target_angle - from_H_0)/t_tot_d * min(t,t_tot_d);
q_des = [q(1);q(2)]+2*l_tibia*[sin(inner_angle_des)*cos(-from_H_des);sin(inner_angle_des)*sin(-from_H_des)];
dq_des = [dq(1);dq(2)]+2*l_tibia*[d_inner_angle_des*cos(inner_angle_des)*cos(-from_H_des) + d_from_H_des*sin(inner_angle_des)*sin(-from_H_des);
d_inner_angle_des*cos(inner_angle_des)*sin(-from_H_des) - d_from_H_des*sin(inner_angle_des)*cos(-from_H_des)];
A = D_gen(x);
B = C_gen(x)*dq;
G = G_gen(x);
J = JSw_gen(x); % jacobian for end effector
%J = JCoM_gen(x);
lambda = inv(J * inv(A) * J');
Jbar = inv(A) * J' * lambda;
mu = Jbar' * B - lambda * dJSw_gen(x) * dq;
%mu = Jbar' * B - lambda * dJCoM_gen(x) * dq;
p = Jbar' * G;
kp = 500; kd = 500; % gains for this controller
term = lambda * (-kp*(pSw - q_des) - kd*(dpSw -dq_des));
% if (t > pi/2/t_con+0.1)
% pSw-q_des
% controlVersion = 6;
% q_desired = q;
% end
F = mu + p + term;
% null space term
c_des = [0; 0.064286];
dc_des = [0; 0];
kp_c = 10; kd_c = 10;
kp_c = 1000; kd_c = 100; % Jared testing
N = eye(n) - Jbar*J;
pC = robot_CoM_gen_2(x);
dpC = robot_dCoM_gen(x);
isolated_q = [q(1:5);q0(6:7)]; %jared testing
isolated_dq = [dq(1:5);0;0]; % Jared Testing
null_term = -kp_c*(q - q0(1:n)) -kd_c*(dq);%B + G + A*(-kd_c*(q - q0(1:n)));
null_term = -kp_c*(isolated_q - q0(1:n)) -kd_c*(isolated_dq);%B + G + A*(-kd_c*(q - q0(1:n)));
% null_term = zeros(7,1);
tau = J' * F + N'*null_term;
u = tau(4:end);
% Jtor =
% Trying to get stance foot
case 7.5 %TASK SPACE CONTROLLER 2
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
pSw = pSw_gen(x); % current position of end effector
dpSw = dpSw_gen(x); % current velocity of end effector
pSt = pSt_gen(x); % current position of end effector
dpSt = dpSt_gen(x); % current velocity of end effector
%pSw = robot_CoM_gen_2(x);
%dpSw = robot_dCoM_gen(x);
omega1 = 0; %omega_hip
omega2 = 0; %omega_knee
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0-0.5; C.q1_knee0+0.5; C.q2_hip0; C.q2_knee0;0;0;0;0;0;0;0];
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0; C.q1_knee0; C.q2_hip0; C.q2_knee0;0;0;0;0;0;0;0];
%x_des = q0 + [0;0;0;0;0; omega1*t; omega2*t;0;0;0;0;0;omega1; omega2];
t_con = 8;
x_mag = 1.2;
y_mag = 0.7;
t_con = 10; % Jared testing
x_mag = 1.2; % Jared testing
y_mag = 0.5; % Jared testing
q_des = [x_mag*sin(t_con*t)*(t<pi/2/t_con) + x_mag*(t>=pi/2/t_con);y_mag*sin(t_con*t)*(t<pi/2/t_con) + y_mag*(t>=pi/2/t_con)];%.064286];%pSw_gen(x_des); %q_des = desired position of the end effector
%dq_des = desired velocity of the end effector
dq_des = [x_mag*t_con*cos(t_con*t)*(t<pi/2/t_con);y_mag*t_con*cos(t_con*t)*(t<pi/2/t_con)];%[omega1*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t) + (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t);...
%-omega1*.5*cos(pi/2-q_torso0-q2_hip0-omega1*t) - (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t)];
inner_angle_0 = (pi-q0(7))/2;
inner_angle = (pi-q(7))/2;
from_H_0 = q0(6)-inner_angle_0;
inner_angle_f = pi/10;
global p_target
if p_target(2)<0
target_angle = 0;
else
target_angle = target_angle_gen(x);
end
t_tot_d = .3;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle_0)/t_tot_d;
if t > t_tot_d
inner_angle_f = pi/2*.9;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t-t_tot_d,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle)/.03;
end
d_from_H_des = (-target_angle - from_H_0)/t_tot_d;
if t > t_tot_d
d_from_H_des = target_angle-kick_angle_gen(x);
end
from_H_des = from_H_0 + (-target_angle - from_H_0)/t_tot_d * min(t,t_tot_d);
q_des = [q(1);q(2)]+2*l_tibia*[sin(inner_angle_des)*cos(-from_H_des);sin(inner_angle_des)*sin(-from_H_des)];
dq_des = [dq(1);dq(2)]+2*l_tibia*[d_inner_angle_des*cos(inner_angle_des)*cos(-from_H_des) + d_from_H_des*sin(inner_angle_des)*sin(-from_H_des);
d_inner_angle_des*cos(inner_angle_des)*sin(-from_H_des) - d_from_H_des*sin(inner_angle_des)*cos(-from_H_des)];
A = D_gen(x);
B = C_gen(x)*dq;
G = G_gen(x);
J = JSw_gen(x); % jacobian for end effector
%J = JCoM_gen(x);
lambda = inv(J * inv(A) * J');
Jbar = inv(A) * J' * lambda;
mu = Jbar' * B - lambda * dJSw_gen(x) * dq;
%mu = Jbar' * B - lambda * dJCoM_gen(x) * dq;
p = Jbar' * G;
kp = 500; kd = 500; % gains for this controller
term = lambda * (-kp*(pSw - q_des) - kd*(dpSw -dq_des));
% if (t > pi/2/t_con+0.1)
% pSw-q_des
% controlVersion = 6;
% q_desired = q;
% end
F = mu + p + term;
% null space term
c_des = [0; 0.064286];
dc_des = [0; 0];
kp_c = 10; kd_c = 10;
kp_c = 1000; kd_c = 100; % Jared testing
N = eye(n) - Jbar*J;
pC = robot_CoM_gen_2(x);
dpC = robot_dCoM_gen(x);
isolated_q = [q(1:5);q0(6:7)]; %jared testing
isolated_dq = [dq(1:5);0;0]; % Jared Testing
null_term = -kp_c*(q - q0(1:n)) -kd_c*(dq);%B + G + A*(-kd_c*(q - q0(1:n)));
null_term = -kp_c*(isolated_q - q0(1:n)) -kd_c*(isolated_dq);%B + G + A*(-kd_c*(q - q0(1:n)));
A = D_gen(x);
B = C_gen(x)*dq;
G = G_gen(x);
JSt = JSt_gen(x); % jacobian for end effector
%J = JCoM_gen(x);
lambda_St = inv(JSt * inv(A) * JSt');
Jbar_St = inv(A) * JSt' * lambda_St;
mu_St = Jbar_St' * B - lambda_St * dJSt_gen(x) * dq;
%mu = Jbar' * B - lambda * dJCoM_gen(x) * dq;
p_St = Jbar_St' * G;
kp = 500; kd = 50; % gains for this controller
q_des_St = pSt_gen(q0) + [-0.2;-.00];
dq_des_St = [0;0];
term_St = lambda_St * (-kp*(pSt - q_des_St) - kd*(dpSt -dq_des_St));
% if (t > pi/2/t_con+0.1)
% pSw-q_des
% controlVersion = 6;
% q_desired = q;
% end
FSt = mu_St + p_St + term_St;
% null_term = zeros(7,1);
% ----------------------------------------------------
kp_c = 1000; kd_c = 10; % Jared testing
N2 = eye(n) - Jbar_St*JSt;
pC = robot_CoM_gen_2(x);
dpC = robot_dCoM_gen(x);
isolated_q = [q(1:3);q0(4);q(5);q0(6:7)]; %jared testing
isolated_dq = [dq(1:3);0;dq(5);0;0]; % Jared Testing
null_term = -kp_c*(q - q0(1:n)) -kd_c*(dq);%B + G + A*(-kd_c*(q - q0(1:n)));
null_term = -kp_c*(isolated_q - q0(1:n)) -kd_c*(isolated_dq);%B + G + A*(-kd_c*(q - q0(1:n)));
% null_term = zeros(7,1);
tau = J' * F + N'*null_term;
%-------------------------------------------------------------------------
tau = J' * F + N'*(JSt'*FSt+N2'*null_term);%null_term;
u = tau(4:end);
%% Jared's but more curvy
case 8 %modification of 7.5
%constants;
n = NDoF_gen(x);
q = x(1:n);
dq = x(n+1:end);
% Initial conditions
pSw = pSw_gen(x); % current position of end effector
dpSw = dpSw_gen(x); % current velocity of end effector
%pSw = robot_CoM_gen_2(x);
%dpSw = robot_dCoM_gen(x);
omega1 = 0; %omega_hip
omega2 = 0; %omega_knee
q0 = [C.x0; C.y0; C.q_torso0; C.q1_hip0-0.5; C.q1_knee0+.1; C.q2_hip0; C.q2_knee0;0;0;0;0;0;0;0];
%x_des = q0 + [0;0;0;0;0; omega1*t; omega2*t;0;0;0;0;0;omega1; omega2];
t_con = 8;
x_mag = 1.2;
y_mag = 0.7;
t_con = 10; % Jared testing
x_mag = 1.2; % Jared testing
y_mag = 0.5; % Jared testing
q_des = [x_mag*sin(t_con*t)*(t<pi/2/t_con) + x_mag*(t>=pi/2/t_con);y_mag*sin(t_con*t)*(t<pi/2/t_con) + y_mag*(t>=pi/2/t_con)];%.064286];%pSw_gen(x_des); %q_des = desired position of the end effector
%dq_des = desired velocity of the end effector
dq_des = [x_mag*t_con*cos(t_con*t)*(t<pi/2/t_con);y_mag*t_con*cos(t_con*t)*(t<pi/2/t_con)];%[omega1*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t) + (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t);...
%-omega1*.5*cos(pi/2-q_torso0-q2_hip0-omega1*t) - (omega1+omega2)*.5*sin(pi/2-q_torso0-q2_hip0-omega1*t-q2_knee0-omega2*t)];
inner_angle_0 = (pi-q0(7))/2;
inner_angle = (pi-q(7))/2;
from_H_0 = q0(6)-inner_angle_0;
inner_angle_f = pi/6;
global p_target
if p_target(2)<0
target_angle = 0;
else
target_angle = target_angle_gen(x);
end
t_tot_d = .3;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle_0)/t_tot_d;
if t > t_tot_d
inner_angle_f = pi/2*.8;
inner_angle_des = inner_angle_0 + (inner_angle_f - inner_angle_0)/t_tot_d * min(t-t_tot_d,t_tot_d);
d_inner_angle_des = (inner_angle_f - inner_angle)/.03;
end
d_from_H_des = (-target_angle - from_H_0)/t_tot_d;
if t > t_tot_d
d_from_H_des = target_angle-kick_angle_gen(x);
end
from_H_des = from_H_0 + (-target_angle - from_H_0)/t_tot_d * min(t,t_tot_d);
q_des = [q(1);q(2)]+2*l_tibia*[sin(inner_angle_des)*cos(-from_H_des);sin(inner_angle_des)*sin(-from_H_des)];
dq_des = [dq(1);dq(2)]+2*l_tibia*[d_inner_angle_des*cos(inner_angle_des)*cos(-from_H_des) + d_from_H_des*sin(inner_angle_des)*sin(-from_H_des);
d_inner_angle_des*cos(inner_angle_des)*sin(-from_H_des) - d_from_H_des*sin(inner_angle_des)*cos(-from_H_des)];
A = D_gen(x);
B = C_gen(x)*dq;
G = G_gen(x);
J = JSw_gen(x); % jacobian for end effector
%J = JCoM_gen(x);
lambda = inv(J * inv(A) * J');
Jbar = inv(A) * J' * lambda;
mu = Jbar' * B - lambda * dJSw_gen(x) * dq;
%mu = Jbar' * B - lambda * dJCoM_gen(x) * dq;
p = Jbar' * G;
kp = 500; kd = 500; % gains for this controller
term = lambda * (-kp*(pSw - q_des) - kd*(dpSw -dq_des));
% if (t > pi/2/t_con+0.1)
% pSw-q_des
% controlVersion = 6;
% q_desired = q;
% end
F = mu + p + term;
% null space term
c_des = [0; 0.064286];
dc_des = [0; 0];
kp_c = 10; kd_c = 10;
kp_c = 1000; kd_c = 100; % Jared testing
N = eye(n) - Jbar*J;
pC = robot_CoM_gen_2(x);
dpC = robot_dCoM_gen(x);
isolated_q = [q(1:5);q0(6:7)]; %jared testing
isolated_dq = [dq(1:5);0;0]; % Jared Testing
null_term = -kp_c*(q - q0(1:n)) -kd_c*(dq);%B + G + A*(-kd_c*(q - q0(1:n)));
null_term = -kp_c*(isolated_q - q0(1:n)) -kd_c*(isolated_dq);%B + G + A*(-kd_c*(q - q0(1:n)));
% null_term = zeros(7,1);
tau = J' * F + N'*null_term;
u = tau(4:end);
% Jtor =
% Trying to get stance foot
%% Zero Dynamics
otherwise
u = [0; 0; 0; 0];
end