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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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question #24

Open tangwuliuliu opened 2 months ago

tangwuliuliu commented 2 months ago

I want to know which parts of the code I should modify to adapt the controller to my own model if I import my own robot urdf ？

kingnight797 commented 1 month ago

hector_control

junhengl commented 1 month ago

You can first update robot model in hector_description/xacro. To make the controllers compatible with the new model, you will also need to modify the files in hector_control with new parameters from your robot.

tangwuliuliu commented 1 week ago

hector_control

Sorry to bother you again, I would like to ask how you do the slope test. When I use this method to do the slope test, the performance is always OK at the beginning, but it shakes violently as I continue to go up