{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/walking-controllers/issues/8","repository_url":"https://api.github.com/repos/robotology/walking-controllers","labels_url":"https://api.github.com/repos/robotology/walking-controllers/issues/8/labels{/name}","comments_url":"https://api.github.com/repos/robotology/walking-controllers/issues/8/comments","events_url":"https://api.github.com/repos/robotology/walking-controllers/issues/8/events","html_url":"https://github.com/robotology/walking-controllers/pull/8","id":332302582,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk0ODE2MjM0","number":8,"title":"Implement Gain scheduling for ZMP/CoM 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order to reduce oscillation during the stance phase, the gain scheduling strategy is implemented for the ZMP/CoM controller\r\n\r\nThis is on top of #7 \r\n\r\n### Simulation\r\n![ZMP/CoM gain scheduling](https://user-images.githubusercontent.com/16744101/41408640-9ed44240-6fd3-11e8-8fce-db33fb1f4ca7.gif)\r\n\r\n### TODO \r\n- [x] Implement the gain scheduling\r\n- [x] Test on simulation\r\n- [x] Test on iCub\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/walking-controllers/issues/comments/400021525","html_url":"https://github.com/robotology/walking-controllers/pull/8#issuecomment-400021525","issue_url":"https://api.github.com/repos/robotology/walking-controllers/issues/8","id":400021525,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMDAyMTUyNQ==","user":{"login":"GiulioRomualdi","id":16744101,"node_id":"MDQ6VXNlcjE2NzQ0MTAx","avatar_url":"https://avatars3.githubusercontent.com/u/16744101?v=4","gravatar_id":"","url":"https://api.github.com/users/GiulioRomualdi","html_url":"https://github.com/GiulioRomualdi","followers_url":"https://api.github.com/users/GiulioRomualdi/followers","following_url":"https://api.github.com/users/GiulioRomualdi/following{/other_user}","gists_url":"https://api.github.com/users/GiulioRomualdi/gists{/gist_id}","starred_url":"https://api.github.com/users/GiulioRomualdi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/GiulioRomualdi/subscriptions","organizations_url":"https://api.github.com/users/GiulioRomualdi/orgs","repos_url":"https://api.github.com/users/GiulioRomualdi/repos","events_url":"https://api.github.com/users/GiulioRomualdi/events{/privacy}","received_events_url":"https://api.github.com/users/GiulioRomualdi/received_events","type":"User","site_admin":false},"created_at":"2018-06-25T16:54:57Z","updated_at":"2018-06-25T16:54:57Z","author_association":"MEMBER","body":"Maybe I can check the norm of the velocity of the DCM, if it is lower than a threshold the gain are updated. What do you think?"}}
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