Controller

CONTROLLER implements the controller for the Compass Gait Model
           It is a minimalistic control strategy in which an open-loop
           motor controller plays an important role to induce
           self-stabilizing walking dynamics. The controller uses a
           sinusoidal oscillator.

 Calling sequence:
       ha=Controller(t,q,q_d,phi);

 Revisions:
       Date          Programmer      Description

       2009.05.02    Fumiya Iida     Original code
 
 variables:
       t    -- 
       phi  --

0001 function [ ha ] = Controller( t, q, q_d, phi )
0002 %CONTROLLER implements the controller for the Compass Gait Model
0003 %           It is a minimalistic control strategy in which an open-loop
0004 %           motor controller plays an important role to induce
0005 %           self-stabilizing walking dynamics. The controller uses a
0006 %           sinusoidal oscillator.
0007 %
0008 % Calling sequence:
0009 %       ha=Controller(t,q,q_d,phi);
0010 %
0011 % Revisions:
0012 %       Date          Programmer      Description
0013 %
0014 %       2009.05.02    Fumiya Iida     Original code
0015 %
0016 % variables:
0017 %       t    --
0018 %       phi  --
0019 
0020 global AMP PER;
0021 
0022 % Compute the controller's output
0023 ha = AMP*sin(2*pi*t/PER+phi);
0024 
0025 
0026 
0027