Balancer Plugin

Overview

The Balancer plugin (BalancerPlugin) is a plugin for applying automatic balance correction in the choreography function of PoseSeq Plugin.

When creating motions of a biped robot with key poses, the motions tend to lose balance and make the robot fall over as they are. When this plugin is enabled, a correction considering the dynamic balance is applied in motion generation, and you can create motions that (theoretically) do not fall over. It is especially useful for creating walking motions and whole-body motions of biped robots.

How to Build

This plugin can be built by turning ON the CMake option BUILD_BALANCER_PLUGIN. As a prerequisite, also enable the PoseSeq plugin ( BUILD_POSE_SEQ_PLUGIN ).

How to Use

When this plugin is enabled, you can select the application of balance correction from the toolbar in the motion generation of the choreography function.