BalekaFilesV2

This repo stores the updated Baleka files from the 8 November 2022.

DIFFERENCES in pyomo and simscape

1. GRF
2. does not track well
3. orientation of system is not the same even though all DOF is equal

FRIDAY TODO

1. max hop testing
2. baseline: mu = 1, N=50
3. Update mu, N, Kp and Kd to view differences
4. Update periodic csv file save - remove repeated row
5. communication rate update all to 500 Hz
6. spline -> linear -> ZOH

URGENT - PYOMO

With th_body = 0 (fixed)

Compare using Stacey Tuts using : in function constraints

Notes:

1. dx = dx+ - dx- gives the actual value and sign where dx = dx+ + dx- gives the magnitude (if there's any velocity at all)

2. h[1] is not needed as no link to model

3. Scale the entire system (N/bodyweight)

4. Double check everything (mass and inertias - compare Simscape and Pyomo)

5. Do hop test - compare TW and GRF curve of Simscape and Pyomo

6. Reduce Kp = 55 and Kd = 5

7. Increase nodes to check difference - check 0.01<hm<0.02 where hm = TT/N

8. Raibert control v NLF (or mimic pyomo traj using raibert control to include FB)

9. Can slip if Gx>uGy

10. Model foot deflection in pyomo

11. compare des v act in Simscape

12. pos = quad, vel = linear, acc = ZOH (interpolation)

13. Fix friction model - friction cone

14. Fix and understand h_sum: h[1] when tau[1] = 0 --> focus on the

15. Double check torque curve

16. Foot (angle) implementation

17. Motor parameters

18. Scale all variables correctly

19. Stribeck friction

20. Absolute Angles

21. Seeds

To Do List:

Speedgoat

1. Update Timestep correctly - increase it as much as possible
   a. Find max Kp and Kd from impedence control
   b. Adjust BW using R-Link if needed
2. Padding on robot
3. Raibert Control:
   a. redo foot detection
   b. Update stance time correctly from .matfile run
   c. Update zeroing angle detection
4. Center point on upper links
5. Adjust CAN read and write files correctly - have a single function

Simscape

1. Deflection test (1e4) and compare normal forces
2. Compare masses
3. Include fasteners in model

Pyomo

Urgent

1. Body scaling
2. Min torque
3. Reduce max change in torque
4. Adjust link angle limits
5. Cost of transport
6. Stribeck friction
7. Seeds

On weekends

1. Get Immanuel Thesis
2. Radau
3. Virtual, magnitude and direction constraints
4. Model PD controller - to select Kp and Kd
5. Joint friction
6. Solve using absolute angles (with thB and without thB)

Raibert Control

1. Alternate walking
2. Alternate hopping