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CMM-22 / a2

CMM Assignment 2 - Kinematic walking controller
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Ex3. Motion not right in high speed #29

Open kaikai23 opened 2 years ago

kaikai23 commented 2 years ago

Hello, my robot looks all right when moving speed is under 1.8m/s. But when I give a high speed like 2.5m/s, it suddenly becomes crazy.

I don't know why this happens because everything is fine when speed is normal, and I have also passed EX.4 but stick to numerical Jacobian in IK_solver. Do you have any insight where might the problem be? Thanks!

https://user-images.githubusercontent.com/71677542/160912592-46360c18-5c7f-49f2-84e8-6ba9f9a4c69c.mov

Marialenakdg commented 2 years ago

I have the same problem! And no idea what's going on

eastskykang commented 2 years ago

If a commanded velocity is too high, the feet targets are too far away from current feet position, that consequently leads to singularity (where there's no solution to reach the targets) This may cause a numerical problem. We can impose additional measures for preventing it, but it's out of the scope.

Can you tell me what happens if you reduce the command velocity after this happens? If the behavior goes back to normal, then you are on the right track.

kaikai23 commented 2 years ago

Yes, after reducing the velocity, the robot behaves back to normal. Thank you!