chip updates: control ideas [updates]
So I want to do a quick update on an idea I just got on how to do control for CHIP. Right now what we have is the forward kinematic equations and the Jacobian of Chip's leg right? So what we want to is be able to make these legs move to certain positions. But instead of making it move straight to a certain position what we will likely do is give the leg a TRAJECTORY to follow. This helps us, here's why.
What a trajectory allow us to do is set even more constraints such as, travel at this VELOCITY, at this POSITION, at this TIME. Which means we have more constraints in our equations and we can solve them that way.
However, this may be too complicated for early stages, we might just try integrating the Jacobian to figure out at what Delta_Theta to move for each Delta_Xe.