Stanford WBC Tutorials

The tutorials directory contains a simulator that provides a four-link planar robot which we can use to illustrate some basic concepts of joint-space dynamics and operational-space control.

The tutorials themselves are small programs that use the simulator to illustrate basic concepts and gradually introduce more advanced control techniques as well as provide an overview of how to use and extend the Stanford Whole-Body Control framework.

running tutorial #6

The tutorial simulator lives in namespace tutsim which contains several functions, most of which can be safely ignored at first. The most important function is tutsim::run(), which takes as single argument the pointer of a user-supplied function which will be called at each simulated control cycle. The tutsim::set_draw_cb() function is a useful addition in case you need to do some custom drawing on top of the graphic output of the simulator.

The tutorial GUI has three buttons, two of which have really obvious meanings. Each time you press Toggle an internal counter is incremented and passed back into the user-supplied servo_cb() function. This allows tutorials to implement several modes.

• tutorials/tut00_test.cpp
• tutorials/tut01_joint_coupling.cpp
• tutorials/tut02_jtask.cpp
• tutorials/tut03_gravity_compensation.cpp
• tutorials/tut04_inertia_coriolis.cpp
• tutorials/tut05_opspace_and_parameters.cpp
• tutorials/tut06_eepos.cpp

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