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iCub on a seesaw

This controller aims to balance the humanoid robot iCub while standing on a moving platform, i.e. the seesaw board.

Structure of the repository:

simulink

This folder contains the Simulink model and Matlab initialization files for balancing controller.

how to run a simulation:

  • install icub-gazebo-wholebody repository and follow the seesaw README instruction for opening the model in Gazebo.
  • run yarpserver on a terminal.
  • run Gazebo on another terminal by using the command you can find here.
  • it is also necessary to run the estimator thread. In simulation, open a terminal and type YARP_ROBOT_NAME=<name of your robot> yarprobotinterface --config launch-wholebodydynamics.xml. Further information can be found here.
  • set your simulation preferences in the initialization file (in particular, select the proper YARP_ROBOT_NAME according to the robot you are using.
  • open the simulink model and let it run!

imuCalib

A simple Simulink model for verifying IMU measurements. Connect the FOG IMU to your PC by following the instructions in kvh-yarp-devices repositiory and then run the model.