Skip to content

Latest commit

 

History

History
19 lines (10 loc) · 999 Bytes

How-to-run-controllers-on-real-iCub.md

File metadata and controls

19 lines (10 loc) · 999 Bytes

HOW TO RUN BALANCING WITH SIMULINK CONTROLLERS ON ICUB

Preliminary procedures:

  • Set the environmental variable YARP_ROBOT_NAME in the .bashrc according to the robot one wants to use (e.g. iCubGenova04, etc. for experiments).

  • Start the robot. Please refer to How to setup iCub for whole-body control experiments for more information on the startup procedure.

Before putting the robot feet on the ground:

  • Bring the robot in a suitable home position. Run on a terminal the command yarpmotorgui --from homePoseBalancing.ini and then select a custom position by clicking on the window Global Joints Commands/Custom postions.

  • Type on a terminal the command yarp rpc /wholeBodyDynamics/rpc and then execute the command calib all 300. It will remove offsets from FT sensors measurements.

  • Then, put the robot on the ground.

After putting the robot on the ground:

  • Open the simulink model and run the controller.