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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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confusion about the installation position of IMU #18

Closed ZY17740963779 closed 6 months ago

ZY17740963779 commented 6 months ago

thanks for your great work!!! I am confused about how to determine the installation position of the IMU in the actual robot？

junhengl commented 6 months ago

The position of the IMU on the Unitree A1 robot is actually very close to the CoM of the trunk. In the biped form as HECTOR, the IMU is slightly above the battery of the A1 body. In the hardware, we use a fusion of IMU reading and t265 camera reading as our state estimation data.

ZY17740963779 commented 6 months ago

thanks for your answer!