CCC::DcmTracking Class Reference

Walking control based on tracking of divergent component of motion (DCM). More...

#include <DcmTracking.h>

Classes
struct	RefData
	Reference data. More...

Public Types
using	InitialParam = Eigen::Vector2d
	Initial parameter. More...

Public Member Functions
	DcmTracking (double com_height, double feedback_gain=2.0)
	Constructor. More...
Eigen::Vector2d	planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time) const
	Plan one step. More...

Public Attributes
double	feedback_gain_ = 0
	Feedback gain to calculate control ZMP. More...

Protected Attributes
double	omega_ = 0
	Time constant for inverted pendulum dynamics. More...

Detailed Description

Walking control based on tracking of divergent component of motion (DCM).

Todo:

Support three-dimensional motion.

Todo:

Is it possible to handle continuous ZMP transition during the double support phase?

See the following for a detailed formulation.

• J Englsberger, et al. Three-dimensional bipedal walking control using divergent component of motion. IROS, 2013.

Definition at line 22 of file DcmTracking.h.

Member Typedef Documentation

InitialParam

using CCC::DcmTracking::InitialParam = Eigen::Vector2d

Initial parameter.

Initial parameter is DCM only.

Definition at line 44 of file DcmTracking.h.

Constructor & Destructor Documentation

DcmTracking()

CCC::DcmTracking::DcmTracking ( double  com_height, double  feedback_gain = 2.0  )

inline

Constructor.

Parameters

com_height	height of robot CoM [m]
feedback_gain	feedback gain to calculate ZMP

Definition at line 51 of file DcmTracking.h.

Member Function Documentation

planOnce()

Eigen::Vector2d CCC::DcmTracking::planOnce	(	const RefData &	ref_data,
		const InitialParam &	initial_param,
		double	current_time
	)		const

Plan one step.

Parameters

ref_data	reference data
initial_param	initial parameter (current DCM)
current_time	current time (i.e., start time of horizon) [sec]

Returns

planned ZMP

In the referenced paper, the length of time_zmp_list is three.

Member Data Documentation

feedback_gain_

double CCC::DcmTracking::feedback_gain_ = 0

Feedback gain to calculate control ZMP.

Definition at line 68 of file DcmTracking.h.

omega_

double CCC::DcmTracking::omega_ = 0

protected

Time constant for inverted pendulum dynamics.

Definition at line 72 of file DcmTracking.h.

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The documentation for this class was generated from the following file:

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/DcmTracking.h