Hello everyone,
I was wondering if we know what kind of controller is used for the position control of the Bittle Dog. I guess it's some sort of PD controller, but what are the gains of it?
This would help a lot as I want to do some Reinforcement Learning with the robot.
Kind regards
Nico
The main controller to send the positions is Arduino Uno or ESP32. The signal is sent as PWM and processed by the servo's chip. The servo uses potentiometer to control the position. Currently the chip won't return position information, but we will add position feedback next year.