WBI-Toolbox-controllers

Controllers developed using both the WBI-Toolbox and the WB-Toolbox. In the folder which correspond to each controller the user can find a detailed README. Here we present a short description of each balancing controller and the README links.

Available models

All the models implemented with the old WBI-Toolbox are in the legacy folder. The new WB-Toolbox models are:

• torqueBalancing
• torqueBalancing_experiments
• torqueBalancingOnSeesaw
• wholeBodyImpedanceControl

torqueBalancing

This simulink model controls the robot using a momentum-based balancing control. The user can find the full description here: torqueBalancing README

torqueBalancing_experiments

This folder contains two modifications of the original torqueBalancing code. These versions are deprecated and will be removed soon.

torqueBalancingOnSeesaw

This is a peculiar version of momentum-based balancing controller, specifically developed for balancing the robot on a seesaw. The readme is at the following link: torqueBalancingOnSeesaw README.

wholeBodyImpedanceControl

A simple impedance controller for the robot balancing.

Add a new model

To add a new model to the repo, please follow the guidelines on model creation.