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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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moving forward failed in simulink #16

Closed Decdestiny001 closed 6 months ago

Decdestiny001 commented 6 months ago

Hello,

I set vx = 0.5 (desired x_velocity ) for the Hector in Matlab/simulink without any rotation mode, and it failed to walk after 3 steps. I tried to tune the weight factor in MPC controller, but it still doesn't work. Any suggestion, please?

junhengl commented 6 months ago

I have updated a new version that should resolve this problem, please use this lastest version. thanks, Junheng

Decdestiny001 commented 6 months ago

Hello Junheng,

Problem solved! Thanks a lot!

Chao