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OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
https://moribots.github.io/project/spot-mini-mini
MIT License
800 stars 171 forks source link

Non strainge forward walk #13

Closed tarasborov closed 3 years ago

tarasborov commented 3 years ago

Hello! At first, I would like to say that your project is great and well-done. I went through the project and tried to simulate the spot: 1) Run ./env_tester.py. 2) Define StepLenght=0.05 However, the spot were walking forward with small shifting in left side. I saw that you tried fix that by AutoYaw (if I understood corectly). Could you tell me why this problem appears? Is this problem in a BezierGait algorithm? I am looking forwad for your answer. Thanks.

moribots commented 3 years ago

Hi, thanks!

This happens because of the system dynamics.

tarasborov commented 3 years ago

Thanks for your answer! Do you mean that inertial of each link causes a change in foot trajectories? If I want to walk straight forward, should I design a yaw controller?

moribots commented 3 years ago

Essentially, yes. The combination of foot impacts and inertia causes this behavior. A yaw controller is the simplest solution to deal with this problem.

If you think in terms of a high level controller (xy velocities, yaw velocity), it's a straightforward thing to have in your pipeline.

tarasborov commented 3 years ago

Thank You!