Gravity Compensation Controller#
The Gravity Compensation Controller is a ROS controller that performs Inverse Dynamics to compute the necessary torque to the joints in the legs to maintain the current configuration.
To start this controller, lift the robot on air and execute:
ros2 launch kangaroo_controller_configuration leg_gravity_controller.launch.py side:=[left|right] interface_type:=[effort|force]
đš Video Reference:#
The following video showcase the Kangaroo lowerbody running the Gravity Compensation Controller