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What does self.attractor_lim mean, and how is its value defined #4

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zhczyj opened this issue Nov 24, 2023 · 1 comment
Open

What does self.attractor_lim mean, and how is its value defined #4

zhczyj opened this issue Nov 24, 2023 · 1 comment

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@zhczyj
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zhczyj commented Nov 24, 2023

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@franzesegiovanni
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Hi, in the paper we explained that in order to have the robot to have a far away attractor, when giving feedback, we prefer to increase the stiffness such that to have the same requested force. Additionally, having a clipping on the attractor results in a bound also on the velocity.

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