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node to publish COG/ZMP

asked 2012-09-04 04:02:23 -0500

Kei Okada

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updated 2014-01-28 17:13:33 -0500

ngrennan
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Does anybody knows if there is a node to publish COG/ZMP from joint_state or tf of the robot?

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answered 2012-09-04 04:50:59 -0500

AHornung

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I just published hrl_kinematics which consists of a small library and a node to do exactly that. From a URDF with joint state, you can compute the CoG and a projection to the supporting plane. You can also specify the supporting links (feet) and check of the pose is statically stable. There is not much documentation on the wiki, but the code is pretty self-explanatory I would say.

There's no ZMP in there yet -- I would happily accept patches!