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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Adjust simulation and CAD to match each other, use accurate inertia and mass #37

Closed LouKordos closed 3 years ago

LouKordos commented 3 years ago

Model the entire biped in Fusion 360 or Solid Edge and determine accurate inertia. Then use exactly those values in the controller and only deviate for robustness testing.

LouKordos commented 3 years ago

Also update simulation SDF / URDF file as inertia is pretty messed up after the many patches!

LouKordos commented 3 years ago

Also try the leg configuration with actuator models and hip2 next to hip1.

LouKordos commented 3 years ago

Updated the inertia values in gazebo based on CAD and #cdefe01d269ccb35de7ca3895ef714022cb54075 now uses Inertia of Torso + upper 2 hip actuators of each leg for I_body. This was confirmed to work well in Gazebo 11.3 with the Bullet engine for over 10 minutes. Documented here.

Advanced actuator layout does not work yet, but should be doable with a little work.