WIP - Walking routine#32
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Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
Signed-off-by: MRicoIE2C <mrico.ie2@gmail.com>
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Walking routine.
Due to deadband accumulation on the joints, no feedback on the joints' position, and malfunctions of the MG996R servo-motors, the robot is not able to maintain a dynamic balance during walking.
Besides, the nonlinear controller has been proven for static stability, but it is yet to be proved for dynamic stability.
For that reason, this task is still a WIP.