>>34513
>>34515
>If I find myself with lots of spare time soon (lol), I may try to spell my theory out in excruciating detail, then if I have even more time, I'll try to simplify that.
It just occurred to me I can find a use-case at the level I'm currently working (ie, driving the low-level control systems for the robowaifu body). Namely : wrapping the actuation control nodes with Super PIDs; then driving the pose estimation/control using this more-simplified, higher-level control interface (all linked together into a mesh to keep unwanted dynamics from going 'overboard' during the process of solving the full joint-chains for kinematic goals [during each time quanta]) (+ this arrangement is also well-suited to NN training regimes).
>tl;dr
Think of it kind of like 'morph targets' for 3D CGI blendshapes, but instead driving realworld, complex mechanics/dynamics for a robowaifu using simple sliders, that always keep the system as a whole within proper control limits (regardless of internal/external inputs).
So who knows Grommet? I may make the time soon-ish to flesh my theory out in a practical way for you in '25 . Cheers. :^)
---
>addendum (1):
I just discovered that once this works, it should bring a very-valuable, additional benefit to the table for us: namely, that
joint frame-local torques (aka unavoidable dynamics, individually [1][2]) -- which normally negatively affect the entire rest of the robotic skellington (via transmission down the joint-adjacent bones) -- can be damped out by reading the entire matrix of Super PID inputs at each node, and each tweaking their output values accordingly (all doing the same, in-concert, per tick).
>tl;dr
We should be able to eliminate (or at least greatly-reduce) jerky/janky robo movements by using this approach (very good, b/c cheap actuators should work better within such a system). [3] Sweet!
>addendum (2):
I also just discovered that through the magic of 'semantic polymorphism'
(tm)(C)(R)(patent pending)(do not steal), I've been able to derail this thread by discussing
the exact same topic (ie, wrapping 'nodes' in MP/MC PIDs) in two different contexts (Neural Cognition vs. Physical Kinematics). Lol.
Message too long. Click
here
to view full text.
Edited last time by Chobitsu on 12/04/2024 (Wed) 03:58:29.