Hi Pierre,
Thank you.
Yes, it is the idea
The method can be adapt to other motors easily
The difficulty is to know what is expected. In the example, the expected bahavior is that there isn’t any move, so it is easy to correct with a reference. But for more complex behavior, you can have movement so you have to compare the real movement with the expected movement to make pid correction. And to know the expected movement can be a little bit difficult (for walking on a soft ground for example…) but not impossible !
Sure, ramdom perturbation can be an interesting way. At the moment I have ever problems with the speed of V-REP on my computer, so I think I will spend some time to reduce the mesh of poppy model in V-REP (like explained in your [CFC])
Have a nice day, see you soon.