Test-SPD-Implementation

Test SPD implementation for mujoco from Stable proportional-derivative controllers DOI: 10.1109/MCG.2011.30

Fixed based robot SPD in simple_spd.py

Simple P controller with joint damping in simple_position.py

Shape error at higher DOFs error_spd.py

Works with extra free bodies added to the sim: static_implementation.py [stable at timestep = 0.1s]

Current: Let robot have free link - final_implementation_spd.py is spd a good strategy?: depends on the kp and kd tuning

TODO: Reduce variable creation TODO: ball joints (also free joints?)

SPD Low timestep(0.005s)	SPD High timestep(0.05s)
mujoco_spd_low_time_step.mp4	mujoco_spd_high_time_step.16-12-08.mp4

Simple P Low timestep(0.005s)	Simple P High timestep(0.05s)
mujoco_simple_p_low_timestep.mp4	mujoco_simple_p_high_timestep.16-11-51.mp4

External

uses pybullet for easy gui based sliders

Name		Name	Last commit message	Last commit date
Latest commit History 16 Commits
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
__init__.py		__init__.py
callbacks.py		callbacks.py
error_spd.py		error_spd.py
error_spd_utils.py		error_spd_utils.py
final_implementation_spd.py		final_implementation_spd.py
final_spd_utils.py		final_spd_utils.py
mujoco_viewer.py		mujoco_viewer.py
pendulum_free_spd.xml		pendulum_free_spd.xml
pendulum_simple_position.xml		pendulum_simple_position.xml
pendulum_spd.xml		pendulum_spd.xml
pendulum_static_spd.xml		pendulum_static_spd.xml
setup.py		setup.py
simple_position.py		simple_position.py
simple_spd.py		simple_spd.py
spd_utils.py		spd_utils.py
static_implementation.py		static_implementation.py
static_spd_utils.py		static_spd_utils.py