• aditya mehrotra.

chip updates: controller functional-block-diagram [updates]

Here's a good block-diagram for the controller and some initial things from the paper:


The control system has a few major components listed below. The system functional-block-diagram is also shown below.

  • Full-platform model w/ inertial components

  • Simple state-machine

  • A combined numerical/analytical kinematics solver

  • Platform dynamics simulator + complex state-estimator

  • Combined feed-forward feedback controller


#updates #chipv2 #omgrobots

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