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[WBC 04] - Task Priority: Nullspace Projection vs Weighted QP vs HQP
A comparison of three common ways to handle task priority in Whole-Body Control: nullspace projection, weighted QP, and hierarchical QP.
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[WBC 03] - From SE(3) Error to Task-Space PD Control
How a pose target becomes a 6D task-space error, desired acceleration, and equality constraint in a WBC solver.
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[WBC 02] - Representing Floating-Base Robots in Code
How floating-base WBC code represents q, v, actuator torque, generalized vector packing, Eigen matrix products, and solver-to-command boundaries.
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[WBC 01] - Whole Body Control as Software Architecture
A technical overview of Whole Body Control and the software boundaries needed to implement it on floating-base robots.
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[CAN 08] - How to Debug "I Think the Hardware Is Broken"
A practical CAN debugging checklist for narrowing hardware failures
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[CAN 07] - CAN I/O Logic in ROS 2 Hardware Interfaces
Read/write timing, CAN I/O patterns, TX pacing, buffering, and stale feedback handling for CAN-based ROS 2 hardware interfaces
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[CAN 06] - From CAN Frames to ROS 2 Control
Connecting CAN-based robot hardware to ROS 2 through custom wrappers and ROS 2 Control hardware interfaces
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[CAN 05] - PCAN Device Driver Installation on Linux
Step-by-step guide to installing PEAK-System's PCAN drivers on Linux for SocketCAN and PCAN-Basic API
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Resources for Learning Robotics
Collection of useful resources for learning robotics.
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[CAN 04] - Gripper Motor Control with CAN Bus
Single Motor Control with ESP32, simpleFOC, and SocketCAN for Robotic Gripper