Overview

This component ,ReferenceForceUpdater(rfu), helps biped robot keep balance in accordance with the forces applied on the arm end effectors.

ReferenceForceUpdater should be used with AutoBalancer or ImpedanceController, because the output of this component is modified reference force, which is input of AutoBalancer or ImpedanceController.

ReferenceForceUpdater modifies reference force so that reference force follows actual forces measured by sensors on arms' end effector.

AutoBalancer and ImpedanceController modifies joint angles, assuming that reference force is applied on end effecters.

Therefore ReferenceForceUpder is effective when you want to controll biped robot, based on actual force applied on end effecters.

Mode

This component has two mode:Active and NotActive.

Active mode: ReferenceForceUpdater get actual force measuerd by sensors and reference force from SequencePlayer or StateHolder, and modifies reference force so that reference force follows actual forces.

NotActive mode: ReferenceForceUpdater do not modify reference force. It output the same value as input reference force.

implementation_id	ReferenceForceUpdater
category	example

Data Ports

Input Ports

port name	data type	unit	description
qRef	RTC::TimedDoubleSeq	[rad]	Reference joint angles
rpy	RTC::TimedOrientation3D	[rad]	Actual attitude sensor's Roll-Pitch-Yaw angle
basePosIn	RTC::TimedPoint3D	[m]	Input base position
baseRpyIn	RTC::TimedOrientation3D	[rad]	Input base orientation (RPY)
name of force/torque sensor defined in a VRML model, such as "rhsensor"	RTC::TimedDoubleSeq	[N],[Nm]	raw force/torque in the sensor frame

Output Ports

port name	data type	unit	description
"Ref_" + name of force sensor defined in a VRML model + "Out", such as "Ref_rhsensorOut"	RTC::TimedDoubleSeq	[N]	reference force in the sensor frame

Service Ports

Service Providers

port name	interface name	service type	IDL	description
ReferenceForceUpdaterService	service0	ReferenceForceUpdaterService	OpenHRP::ReferenceForceUpdaterService

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
debugLevel	int		0	debug level

Configuration File

N/A