Port relevant documentation from codyco wiki to icub wiki about codyco-modules HOT 9 CLOSED

I don't know where to put it in the manual; @randaz81 might be of help

from codyco-modules.

I think we should take a decision about this documentation. Though not fundamental, it may be of help for people willing to better understand the torso coupling mechanism. As a matter of fact, during the summer school many attendees asked us the working principle behind the device.

from codyco-modules.

@DanielePucci You can put it in a new wiki page, for example: http://wiki.icub.org/wiki/ICubCoupledJoints . When it is done I guess we can add a link to this page in section V of the iCub manual.

from codyco-modules.

Thanks valid collaborator. I'm gonna do it as soon as I get back to IIT, since I unfortunately do not have access to local networks from outside work.

from codyco-modules.

Initial (ugly) version done here: http://wiki.icub.org/wiki/ICub_coupled_joints#Torso .
@DanielePucci can you check the coupling matrix?
@lornat75 Do you think we can get the math support to work on iCub wiki? This would simplify a lot to contribute documentation like this.

from codyco-modules.

cc @DanielePucci

from codyco-modules.

The matrix looks fine to me. However, I still have to check consistency with the signs, which are related to the chosen axis of rotations of positive velocities.

from codyco-modules.

@DanielePucci for motor velocities, we choose as positive the velocities that correspond to positive pwm. For joints, we use the convention used in yarp controlboards.

from codyco-modules.

Done in http://wiki.icub.org/wiki/ICub_coupled_joints .

from codyco-modules.