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.

Sign up for GitHub

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

Jump to bottom

[SPIDAR][WIP] the latest version of real platform #607

Open
wants to merge 169 commits into
base: master
Choose a base branch
from
Open

[SPIDAR][WIP] the latest version of real platform #607

wants to merge 169 commits into from

Commits on Oct 10, 2022

  1. Add tiger v1 model

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    64d4f50 View commit details
    Browse the repository at this point in the history

  2. [tiger] add tiger v1 config files

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    c60540c View commit details
    Browse the repository at this point in the history

  3. [tiger] fix urdf and param

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    46aa78d View commit details
    Browse the repository at this point in the history

  4. [tiger] improve urdf

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    3a72f21 View commit details
    Browse the repository at this point in the history

  5. [tiger] modify mesh and urdf

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    276be74 View commit details
    Browse the repository at this point in the history

  6. [tiger] fixed wrong robot name of urdf

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    a75d12f View commit details
    Browse the repository at this point in the history

  7. [tiger] fix servo config

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    35d1882 View commit details
    Browse the repository at this point in the history

  8. [tiger] modify motor info

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    119f149 View commit details
    Browse the repository at this point in the history

  9. [tiger] fix launch file

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    3ac53a8 View commit details
    Browse the repository at this point in the history

  10. [tiger] fix motor info

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    320fe1d View commit details
    Browse the repository at this point in the history

  11. [WIP] [tiger] fix launch and param for aerial_robot v1.2.0

    @chibi314 @tongtybj
    chibi314 authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    ed237ad View commit details
    Browse the repository at this point in the history

  12. [tiger] modify leg collision model

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    2c1973f View commit details
    Browse the repository at this point in the history

  13. [tiger] fix motor info max_thrust

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    02358b2 View commit details
    Browse the repository at this point in the history

  14. [tiger] add navigator in NavigationConfig

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    43de47f View commit details
    Browse the repository at this point in the history

  15. [tiger] add alias in bringup.launch

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    e926ff2 View commit details
    Browse the repository at this point in the history

  16. [tiger] fix wrong fc position

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    1f4ec8b View commit details
    Browse the repository at this point in the history

  17. [tiger] modify rviz config

    @tongtybj
    Tomoki Anzai authored and tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    0092f49 View commit details
    Browse the repository at this point in the history

  18. [Dragon] correct the IMU sensor plugin name for HydrusLike model

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    e3560cd View commit details
    Browse the repository at this point in the history

  19. [Dragon] refactor the rotor interfere estimate & compensate process

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    5117e0b View commit details
    Browse the repository at this point in the history

  20. [Tiger] refactor the configuartion and bringup files to be compatile … 

    …for aerial_robot v1.3.x
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    ccdb197 View commit details
    Browse the repository at this point in the history

  21. [Tiger] refactor the urdf model to be compatible for dragon full_vect… 

    …oring control
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    be01f54 View commit details
    Browse the repository at this point in the history

  22. [Tiger] update the transform demo script for tiger and add the transf… 

    …orm test code
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    ee09e9d View commit details
    Browse the repository at this point in the history

  23. [Tiger] add alias process for configurating the neuron servos.

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    5f356f7 View commit details
    Browse the repository at this point in the history

  24. [tiger] fix the sensor launch file

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    523c18d View commit details
    Browse the repository at this point in the history

  25. Implement joint torque calculation for full vectoring model of dragon

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    52b082f View commit details
    Browse the repository at this point in the history

  26. [Workaround] add robot model for tiger derived from dragon

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    75d3548 View commit details
    Browse the repository at this point in the history

  27. [Tiger] implement thrust force allocation with consideration of joint… 

    … torque to calcualte hovering thrust
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    6e5de32 View commit details
    Browse the repository at this point in the history

  28. [Tiger] implement thrust force allocation with consideration of joint… 

    … torque for flight control
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    b110275 View commit details
    Browse the repository at this point in the history

  29. [Tiger] fix the wrong size initialization for Eigen Matrix

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    76e58e4 View commit details
    Browse the repository at this point in the history

  30. [Tiger] fix the wrong position of edf in urdf

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    57a7bdb View commit details
    Browse the repository at this point in the history

  31. [Estimation] use ros time now for world->root tf broadcast if no imu … 

    …subscribed
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    3161f8a View commit details
    Browse the repository at this point in the history

  32. [Tiger] update the rviz config

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    935a5ee View commit details
    Browse the repository at this point in the history

  33. [Tiger] update the robot model for tiger v1

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    4b4add6 View commit details
    Browse the repository at this point in the history

  34. [Tiger] update the inerital parameters and the dynamics config for ga… 

    …zebo
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    1f4ece7 View commit details
    Browse the repository at this point in the history

  35. [Tiger] update the visual model

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    f4ac05f View commit details
    Browse the repository at this point in the history

  36. [Tiger] further update the robot model

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    848c06b View commit details
    Browse the repository at this point in the history

  37. [Tiger][Walk] add urdf model for tiger walk mode

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    d4a5929 View commit details
    Browse the repository at this point in the history

  38. [Tiger][Walk] enable quick initial posing

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    36318ad View commit details
    Browse the repository at this point in the history

  39. [Tiger][Walk][WIP] calcuate the thrust force, joint torque, contact f… 

    …orce in walk mode
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    0c27ff9 View commit details
    Browse the repository at this point in the history

  40. [WIP] modify the init pose of tiger in rviz mode

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    94467b2 View commit details
    Browse the repository at this point in the history

  41. [Tiger][WIP] implement the static balance between joint torque, thrus… 

    …t force, and contact force
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    3d6f2dd View commit details
    Browse the repository at this point in the history

  42. [Tiger] refactor the URDF model for walk mode

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    ac1f341 View commit details
    Browse the repository at this point in the history

  43. [Tiger] move the QP based thrust force calcualation for walking to Ti… 

    …ger::RobotModel
    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    0c0e23c View commit details
    Browse the repository at this point in the history

  44. [WIP] enable no contact force for single link

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    0ff0fac View commit details
    Browse the repository at this point in the history

  45. [Tiger][WIP] implement walk control based on the static blance

    @tongtybj
    tongtybj committed Oct 10, 2022
    Configuration menu
    Copy the full SHA
    f0c688b View commit details
    Browse the repository at this point in the history

Commits on Dec 6, 2022

  1. [Tiger][Walk][Model] no gimbal roll lock

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    64115cb View commit details
    Browse the repository at this point in the history

  2. [Tiger] add option c++14 for CMakeLists

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    8cd2d63 View commit details
    Browse the repository at this point in the history

  3. [Tiger] update the motor ESC configuration

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    2239f29 View commit details
    Browse the repository at this point in the history

  4. [Tiger] update joint servo torque scale (Dynamixel XH430-V350R)

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0d658c5 View commit details
    Browse the repository at this point in the history

  5. [Tiger] update the neuron servo configuration

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    1611eee View commit details
    Browse the repository at this point in the history

  6. [Tiger][Stand] first trial of standing using thrust force

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    567379b View commit details
    Browse the repository at this point in the history

  7. [Tiger][Walk] update the static balance process. 1) fix bug about the… 

    … cost function; 2) introduce static joint torque as class member
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    b645d1f View commit details
    Browse the repository at this point in the history

  8. [Tiger][Walk] implement static joint torque compensation in a complia… 

    …nce control manner using joint position control
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    bf4b37a View commit details
    Browse the repository at this point in the history

  9. [Tiger][WIP] use QP4 instead of QP3

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    3444b4e View commit details
    Browse the repository at this point in the history

  10. [Tiger][WIP] improve the stand performance

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a163ff2 View commit details
    Browse the repository at this point in the history

  11. [Tiger] update the torque_scale wich has better performance

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    e49b2b8 View commit details
    Browse the repository at this point in the history

  12. [Tiger][Stand] modify the QP parameter for better static balance calc… 

    …ulation
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5642ebb View commit details
    Browse the repository at this point in the history

  13. [Tiger][Walk] implement baselink z position PID control

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    8dcdb76 View commit details
    Browse the repository at this point in the history

  14. [Tiger][Stand] add D control term for baselink position feedback control

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    37dad74 View commit details
    Browse the repository at this point in the history

  15. [Tiger][WIP] force to use position control for joint yaw

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    acba3f4 View commit details
    Browse the repository at this point in the history

  16. [Tiger][WIP] implement walk navigator

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f8a17d2 View commit details
    Browse the repository at this point in the history

  17. [Tiger][Stand] refactor the joint control, introducing a torque thres… 

    …h for static joint torque to chosse either position or torque control
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    98b4d00 View commit details
    Browse the repository at this point in the history

  18. [Tiger][Walk] add XY position control for baselink

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    bf97602 View commit details
    Browse the repository at this point in the history

  19. [Tiger][Walk] implement analytical solution to solve the IK for the j… 

    …oint angles with leg end and baselink position
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5e9f19d View commit details
    Browse the repository at this point in the history

  20. [Tiger][Walk] implement special joint position control strategy for s… 

    …ervo that depends on torque control mode.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    43bab49 View commit details
    Browse the repository at this point in the history

  21. [Tiger][Walk] add logging

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f38aae7 View commit details
    Browse the repository at this point in the history

  22. [Tiger][Walk] refactor the joint navigation and control for moving ba… 

    …selink
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    070efcc View commit details
    Browse the repository at this point in the history

  23. [Tiger][Walk] modify parameter to enable the baselink ascending/desce… 

    …nding
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    1cf5cd5 View commit details
    Browse the repository at this point in the history

  24. [Tiger][Walk] implement link-wise rotation control by vectoring thrus… 

    …t force
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    00f7bcf View commit details
    Browse the repository at this point in the history

  25. [Tiger][WIP] add several verbose for debug

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    3327743 View commit details
    Browse the repository at this point in the history

  26. [Navigation] refactor the unhealthy sensor status in pre-flight phase

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f9001b7 View commit details
    Browse the repository at this point in the history

  27. [Tiger][Walk][Navigator] do not arming if sensor is unhealdth

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f6238cb View commit details
    Browse the repository at this point in the history

  28. [Tiger][Walk] implement free leg raise/lower navigation process

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    7202d46 View commit details
    Browse the repository at this point in the history

  29. [Tiger][Walk] fix the bug about link-wise rotation thrust control for… 

    … links in free leg.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    3066e31 View commit details
    Browse the repository at this point in the history

  30. [Neuron][Dynamixel] remove uncessary codes

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    9343bc0 View commit details
    Browse the repository at this point in the history

  31. [Neuron][Dynamixel] enable to get model number in init phase

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    3ea097d View commit details
    Browse the repository at this point in the history

  32. [Neuron][Dynamixel][WIP] enable sending goal current (torque) in the … 

    …init phase
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5e6099a View commit details
    Browse the repository at this point in the history

  33. [Neuron][Dynamixel][WIP] use sync write for goal position regardless … 

    …of RS485 TTL mix mode
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5cac395 View commit details
    Browse the repository at this point in the history

  34. [Neuron][Dynamixel] enable polling the operating mode

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    718efcd View commit details
    Browse the repository at this point in the history

  35. [Neuron][Dynamixel] refactor the current assignment

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    cbea7ff View commit details
    Browse the repository at this point in the history

  36. [Neuron][Dynamixel] enable to send goal current every iteration after… 

    … sending the goal position. Also enable receiving the goal current from CAN
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    59b7240 View commit details
    Browse the repository at this point in the history

  37. [Spinal][Servo][WIP] enable send goal current from rosserial to spina… 

    …l, and finally to neuron
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    2efeb72 View commit details
    Browse the repository at this point in the history

  38. [Spinal][Neuron] modify the CAN initialize message protocol to suppor… 

    …t sending the initial goal current from neuron to spinal
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5a700d0 View commit details
    Browse the repository at this point in the history

  39. [Servo Bridge] enable to pub/sub target torque via servo bridge

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    07e5f11 View commit details
    Browse the repository at this point in the history

  40. [Servo Config] refactor Servo.yaml for all robots: removing unnecessa… 

    …ry topic name assignment, use default one
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    53db997 View commit details
    Browse the repository at this point in the history

  41. [Tiger][Servo Config] refactor Servo.yaml. removing unnecessary topic… 

    … name assignment, use default one
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    53882aa View commit details
    Browse the repository at this point in the history

  42. [Tiger][Walk] refactor the joint torque control based on the improved… 

    … dynamixel current-based position control mode
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    e7840bf View commit details
    Browse the repository at this point in the history

  43. [WIP][Spinal] do not switch off servo for overload flag

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    822fc20 View commit details
    Browse the repository at this point in the history

  44. [Spinal][RQT] fix the import bug for python3

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    8180a9a View commit details
    Browse the repository at this point in the history

  45. [Servo][Spinal][Neuron] refactor the force servo off rule, which is d… 

    …etermined by neuron but not spinal
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    76d56c2 View commit details
    Browse the repository at this point in the history

  46. [Neuron][Dynamixel] implement setup of pre-defined configuration

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a4f695c View commit details
    Browse the repository at this point in the history

  47. [Spinal][RQT] fix the wrong list assignment

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    64a19c3 View commit details
    Browse the repository at this point in the history

  48. [Neuron][Dynamixel] add original rule to force switching off servo ac… 

    …cording to overload error
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    b0f82d9 View commit details
    Browse the repository at this point in the history

  49. [Servo Bridge] fix bug about the servo target torque subscriber

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    562d2f5 View commit details
    Browse the repository at this point in the history

  50. [Spinal][CAN] set 1[ms] internal between motor pwn and servo target c… 

    …ommand.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    7d81a04 View commit details
    Browse the repository at this point in the history

  51. [Neuron][STM32F4] ignore Debug.launch

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    012e811 View commit details
    Browse the repository at this point in the history

  52. [Tiger][Walk] refactor the link-wise rotation control wit folloing ru… 

    …les:

- no control for free leg
- no control for outer link
- no downward force for inner link
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a9cc173 View commit details
    Browse the repository at this point in the history

  53. [Tiger][Walk] refactor the joint control related to extra joint error

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    aa2a100 View commit details
    Browse the repository at this point in the history

  54. [Tiger][Walk] set max torque for joint servo in lower leg case

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    b469714 View commit details
    Browse the repository at this point in the history

  55. [Spinal][Walk] no negative (downward) thrust force by center link fee… 

    …dback control, since undesired overshoot recovery by such thrust control
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    8750baa View commit details
    Browse the repository at this point in the history

  56. [Nagivation] make the callback functin about joystick message over-wr… 

    …itable
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f6e0c3e View commit details
    Browse the repository at this point in the history

  57. [Tiger][Walk] no joint torque control in non-arming state

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    99e85a0 View commit details
    Browse the repository at this point in the history

  58. [Tiger][Walk][Navigation] add joystick navigation to operate joints

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    d123f69 View commit details
    Browse the repository at this point in the history

  59. [Tiger][Walk] make the threshold that checks lower leg touchdown reco… 

    …nfigurable
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    fa0867e View commit details
    Browse the repository at this point in the history

  60. [Tiger][Walk][Navigation] refactor the joystick command for quick land

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    50bba5d View commit details
    Browse the repository at this point in the history

  61. [Tiger][Walk] refactor the joint control for the opposite of raised l… 

    …eg to avoid the turn out
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0b9f5f8 View commit details
    Browse the repository at this point in the history

  62. [Tiger][Model] make quiet

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    7441f8c View commit details
    Browse the repository at this point in the history

  63. [Tiger][Walk][Navigation] fix bug in the joystick command

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    5950180 View commit details
    Browse the repository at this point in the history

  64. [Tiger][Walk] move the calculation of static balance for walking from… 

    … RobotModel to Controller
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    ec7df0b View commit details
    Browse the repository at this point in the history

  65. [Tiger][Walk][Model] refactor the logging process

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    cddf80e View commit details
    Browse the repository at this point in the history

  66. [Tiger][Walk] fix the bug about the jacobian for statics

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    12c3d87 View commit details
    Browse the repository at this point in the history

  67. [Tiger][Walk] consider the baselink rotation when calcualte the stati… 

    …c thrust force
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0f92c7b View commit details
    Browse the repository at this point in the history

  68. [Tiger][Walk] force to use joint torque control for raise/lower leg

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    673aa17 View commit details
    Browse the repository at this point in the history

  69. [Tiger][Walk] refactor raise/lower leg process. Enable mutal referenc… 

    …e between controller and navigator
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    9d43e9b View commit details
    Browse the repository at this point in the history

  70. [Tiger][Walk] further improve raise/lower leg process 

    - add transition process after initial raising phase
- add transition process in ground contact phase
- add modification process during raising to avoid overhead leg motion
- add modification process for lowering pahse by gradually decreasing thrust
- add more robust determine process for ground contact
- add failsafe recovery for unstable raise leg motion, by checking the baselink rotation and joint angle in opposite leg.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    846f4b7 View commit details
    Browse the repository at this point in the history

  71. [Tiger][Walk] use large torque for pitch joint in opposite of raise l… 

    …eg as default
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    27315ef View commit details
    Browse the repository at this point in the history

  72. [Tiger][Walk][Pattern] implement forward move walk pattern

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    e321838 View commit details
    Browse the repository at this point in the history

  73. [Tiger][Walk][Pattern] implement simulation mode to check the pattern… 

    … design
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    ae56f85 View commit details
    Browse the repository at this point in the history

  74. [Tiger][Walk][Pattern] enable to start walk pattern from joy

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    b3121ac View commit details
    Browse the repository at this point in the history

  75. [Tiger][Walk] update the joint limit for IK

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    8134ebe View commit details
    Browse the repository at this point in the history

  76. [Tiger][Walk] update the rate of raise transition for instant transit… 

    …ion to raise
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    d5ec47f View commit details
    Browse the repository at this point in the history

  77. [Tiger][Walk] use large servo torque for all joint pitchs (except for… 

    … the raise leg) in raise mode
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    7871d26 View commit details
    Browse the repository at this point in the history

  78. [Tiger][Walk] use large servo torque to lower the free leg if the I g… 

    …ain for the thrust force for lowing is zero
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    4c8f2f3 View commit details
    Browse the repository at this point in the history

  79. [Tiger][Walk] enable to enable/disable all servo torque from joy

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    14562a3 View commit details
    Browse the repository at this point in the history

  80. [Tiger][Walk] use position control for internal pitch joint in free l… 

    …eg when using large servo torque to lower the free leg.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    30789d3 View commit details
    Browse the repository at this point in the history

  81. [Tiger][Walk] use position control for external pitch joint in free l… 

    …eg during contact transition.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    85e43ff View commit details
    Browse the repository at this point in the history

  82. [Tiger][Walk] implement position control based joint motion mode for … 

    …all joints
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    e540643 View commit details
    Browse the repository at this point in the history

  83. [Tiger][Walk] set joint position control model as default

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    34dc55b View commit details
    Browse the repository at this point in the history

  84. [Tiger][Walk][WIP] set larger raise angle for front legs in walk pattern

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    af5d075 View commit details
    Browse the repository at this point in the history

  85. [Tiger][Walk] refactor the baselink and leg ends reset process for wa… 

    …lk pattern
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    53adc21 View commit details
    Browse the repository at this point in the history

  86. [Tiger][Walk][WIP] success walk pattern configuration

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    de84ec9 View commit details
    Browse the repository at this point in the history

  87. [Tiger][Walk] set the front leg raise angle ratio as rosparam

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0248c4d View commit details
    Browse the repository at this point in the history

  88. [Tiger][Walk] introduce two threshold about free_leg_force_ratio_ in … 

    …raise and lower phase
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    be6f15e View commit details
    Browse the repository at this point in the history

  89. [Tiger][Walk] very large raise_leg_force_i_gain for immediate raise t… 

    …o avoid baselink tilt; set nonzero lower_leg_force_i_gain to allow force descrease in lower phase to avoid the stuck in lowering leg
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    2f41419 View commit details
    Browse the repository at this point in the history

  90. [Tiger][Walk] use torque control for free leg during raise, and thus … 

    …abolish the front leg raise ratio
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    ae86d13 View commit details
    Browse the repository at this point in the history

  91. [Tiger][Walk] refator and fix bug about the modify process in raise leg

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    3845b75 View commit details
    Browse the repository at this point in the history

  92. [Tiger][Walk] further modify the i gains for modify and lower leg phases

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    03b3a4f View commit details
    Browse the repository at this point in the history

  93. [Tiger][Walk] fix the bug about the target joint angle bias due to th… 

    …e pulley
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    7174772 View commit details
    Browse the repository at this point in the history

  94. [Tiger][Walk] implement the joint torque feedback control by using th… 

    …e thrust force
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a3bc353 View commit details
    Browse the repository at this point in the history

  95. [Tiger][Walk] set the front_leg_raise_ratio to 2.0, which means doubl… 

    …e of the common raise angle (e.g., 0.2 rad -> 0.4 rad)
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    cdfea01 View commit details
    Browse the repository at this point in the history

  96. [Tiger][Walk] refactor the joint torque control in the begining of th… 

    …e raise leg phase to avoid the disapper of torque support for baselink
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    9373bec View commit details
    Browse the repository at this point in the history

  97. [Tiger][Walk][Control] abolish the parametic resist torque for joint … 

    …control
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0c85fd3 View commit details
    Browse the repository at this point in the history

  98. [Tiger][Walk][Control] enable the pure joint position control for the… 

    … inside pitch joint of free leg, which succeeded to walk for the first time
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    f46647a View commit details
    Browse the repository at this point in the history

  99. [Tiger][Walk] improve the raise performance by two points: 1. refacto… 

    …r the joint torque control for free leg; 2. add burst thrust force for stronger raise power.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a09efc0 View commit details
    Browse the repository at this point in the history

  100. [Tiger] add rosbag play script for debuging walk motion

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    612debc View commit details
    Browse the repository at this point in the history

  101. [Tiger][Walk] change the pose of free leg after the leg is raised

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    13eff57 View commit details
    Browse the repository at this point in the history

  102. [Spider][Walk] configuration and modification for successful stand an… 

    …d walk
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    089f4af View commit details
    Browse the repository at this point in the history

  103. [Spider][Model] correct the battery position configuration for differ… 

    …ent link type
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    4bb52d7 View commit details
    Browse the repository at this point in the history

  104. [Spider][Navigator][Model] refactor the method to check the initiliza… 

    …tion of robot model, and disable the QP sovler for robot model as default
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    26ed3b9 View commit details
    Browse the repository at this point in the history

  105. [Spider][Walk][Control] use another joint static torque for raise leg… 

    … mode
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    d0c2717 View commit details
    Browse the repository at this point in the history

  106. [Spider][Walk] configuration for successful stand-walk with battery

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    a4bf94e View commit details
    Browse the repository at this point in the history

  107. [Spider] move the calcualtion of tiger model (e.g., contact force) fr… 

    …om dragon RobotModel
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    d49f36a View commit details
    Browse the repository at this point in the history

  108. [Spider] rename the robot model class for ground locomotion

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    02d628f View commit details
    Browse the repository at this point in the history

  109. [Spider] revert the full vectoring robot model for flight

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    c65fb99 View commit details
    Browse the repository at this point in the history

  110. [Spider][Naviator] refactor the systme to support both flight and wal… 

    …k mode
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    0fad5cb View commit details
    Browse the repository at this point in the history

  111. [Spider][Flight][Navigate] implement special landing process for spider

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    56ea5bd View commit details
    Browse the repository at this point in the history

  112. [Tiger] slient, no verbose

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    aafcc60 View commit details
    Browse the repository at this point in the history

  113. [Dragon] assign the joint name to change the joint angles in landing … 

    …process
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    279db96 View commit details
    Browse the repository at this point in the history

  114. [Tiger] use gimbal nominal angles in early takeoff phase

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    03bd7c0 View commit details
    Browse the repository at this point in the history

  115. [Control] avoid the increase of I term in landing process

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    9b47717 View commit details
    Browse the repository at this point in the history

  116. [Tiger] improve the process of gimbal nominal angles in early takeoff… 

    … phase
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    87b99c6 View commit details
    Browse the repository at this point in the history

  117. [Tiger] select the control term for joint torque restraint. Only sele… 

    …ct acc z control term.
    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    61a11f6 View commit details
    Browse the repository at this point in the history

  118. [Spider][Flight] configuration for good hovering and transform

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    d529b37 View commit details
    Browse the repository at this point in the history

  119. [Servo Bridge] fix bug: remove a hard-coding debug line

    @tongtybj
    tongtybj committed Dec 6, 2022
    Configuration menu
    Copy the full SHA
    2188c0d View commit details
    Browse the repository at this point in the history

Commits on Dec 7, 2022

  1. [Spider] rename and update the script to replay rosbag

    @tongtybj
    tongtybj committed Dec 7, 2022
    Configuration menu
    Copy the full SHA
    fb61c00 View commit details
    Browse the repository at this point in the history

Commits on Dec 9, 2022

  1. [Spider] final configuration for walk and flight

    @tongtybj
    tongtybj committed Dec 9, 2022
    Configuration menu
    Copy the full SHA
    4747cc4 View commit details
    Browse the repository at this point in the history

Commits on Dec 16, 2022

  1. [Spider][Navigate][Joy] add joy cmd for stand and sit

    @tongtybj
    tongtybj committed Dec 16, 2022
    Configuration menu
    Copy the full SHA
    73e7340 View commit details
    Browse the repository at this point in the history

Commits on Dec 25, 2022

  1. [Spider] rename all directories and files from "tiger" to "spider"

    @tongtybj
    tongtybj committed Dec 25, 2022
    Configuration menu
    Copy the full SHA
    e41978f View commit details
    Browse the repository at this point in the history

Commits on Apr 4, 2023

  1. [Spidar] rename all directories and files from "spider" to "spidar"

    @tongtybj
    tongtybj committed Apr 4, 2023
    Configuration menu
    Copy the full SHA
    fdcb9c3 View commit details
    Browse the repository at this point in the history