centroidal_control_collection
Classes | Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
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.

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_heightheight of robot CoM [m]
feedback_gainfeedback 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_datareference data
initial_paraminitial parameter (current DCM)
current_timecurrent 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.


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