Attempt to minimize the angular momentum on the z component#168

Draft

GiulioRomualdi wants to merge 4 commits into

angular_momentum

Commits on Mar 15, 2024

Attempt to minimize the angular momentum on the z component

GiulioRomualdi
authored and
ergocub
committed
Use teh torso orientation velocity to generate a desired angular momentum

GiulioRomualdi
authored and
ergocub
committed
Use the average of the feet velocity as desired centroidal locked velocity

GiulioRomualdi
authored and
ergocub
committed
[ergoCubSN001] Add configuration to add the angular momentum control
ergocub
committed