Integrating a new rigid-body dynamics model library with an existing whole-body controller
From ISLAB/CAISR
| Title | Integrating a new rigid-body dynamics model library with an existing whole-body controller |
|---|---|
| Summary | Integrating a new rigid-body dynamics model library with an existing whole-body controller |
| Keywords | |
| TimeFrame | |
| References | |
| Prerequisites | |
| Author | Anton Jerey, Thomas Holleis, Marlene Mohr |
| Supervisor | Roland Philippsen |
| Level | Flexible |
| Status | Finished |
(under construction)
The SVA-based http://rbdl.bitbucket.org/ looks like a very promising replacement for an older component of https://github.com/poftwaresatent/stanford_wbc so this project will investigate to what extend those are compatible and how to integrate the RBDL code with Stanford-WBC.
