chip updates: check this out! someones been doing balancing with an LQR controller [updates]
So like in our last post, I said we would need to do some more research to figure out how to balance in two opposite legs. Here's what this guy is saying: https://journals.sagepub.com/doi/full/10.5772/61542
There's a lot in here I'll need to read it, it involves an LQR controller which I have not implemented but I think LQR is a state-space style controller. I'm going to go through the derivation here that helps us stabilize the four legged platform. At the end of this we might have a very different structure (like we might not have a stabilize node we might put walking in the stabilize node or something). But let's read it.