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.
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.
All the models implemented with the old WBI-Toolbox are in the legacy folder. The new WB-Toolbox models are:
- boundedTorqueControl
- torqueBalancing
- legacy
- torqueBalancingOnSeesaw
- torqueBalancingStandUp
- wholeBodyImpedanceControl
Check the documentation in WB-Toolbox for installation of the Simulink toolbox.
This simulink model controls the robot using a momentum-based balancing control. The user can find the full description here: torqueBalancing README
A folder containing old Simulink controllers for balancing.
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.
Another peculiar version of momentum-based balancing controller designed for standing up from a chair. See relative torqueBalancingStandUp README.
A simple impedance controller for the robot balancing.
To add a new model to the repo, please follow the guidelines on model creation.