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robotology-legacy/WBI-Toolbox-controllers

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Warning: this repository is not mantained

The Simulink controllers contained in the repo are not supposed to work. This repository is currently used as legacy of whole-body-controllers, see also https://github.com/robotology/whole-body-controllers/blob/master/README.md.

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:

Check the documentation in WB-Toolbox for installation of the Simulink toolbox.

torqueBalancing

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

boundedTorqueControl

legacy

A folder containing old Simulink controllers for balancing.

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.

torqueBalancingStandUp

Another peculiar version of momentum-based balancing controller designed for standing up from a chair. See relative torqueBalancingStandUp 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.