Implement the local ZMP controller for the IK

[GiulioRomualdi]

Among all the tasks supported by the IK what is missing is one that tries to stabilize the desired local CoP. Recent works ¹ shown that this tasks can be considered by adding an admittance controller for the ankle joints velocities.

The task has been successfully used in the walking controller developed in https://github.com/stephane-caron/lipm_walking_controller/

Footnotes

1. Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control ↩

[GiulioRomualdi]

Another interesting approach for the local zmp controller can be found in https://hal.science/hal-04147602/