31 July 2023 Weekly Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• Simone @SimoneMic
• Vignesh @vigisushrutha23
• Nicola @xEnVrE

Absent:

• @andrearosasco , @steb6 (in another meeting)

---

Agenda:

Note: Last week's items should become this week's agenda.

Item	Tag	Responsible	Comment
Complete integration of grasping & walking with Mohamed	#108	@vignesh	Waiting on Mohamed from AMI to integrate walking controller and upper body control
Revise draft for paper on stiffness optimisation	#113	@Woolfrey	Received feedback from Lorenzo; need to revise and sent to Arash for review.
Test singularity avoidance using control barrier functions in MATLAB simulation	#35	@Woolfrey	Started on simulation, but not fully implemented.

---

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Tag	Raised By	Outcome
Working on implementation of MPC	N/A	@vigisushrutha23	Need to try and link the MPC repository to the ergoCub project.
Navigation tested on real ergoCub	N/A	@SimoneMic	Need to fix issues with discontinuities with odometry

Next Meeting:

Note: These will become the agenda for the next meeting.

Item	Tag	Responsible
Continue with integration of walking and grasping	#108	@vigisushrutha23
Finalise draft of stiffness paper and send to Arash to read	#113	@Woolfrey
Get initial results for singularity avoidance in MATLAB simulations	#35	@Woolfrey