bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.

https://bit-bots.de

MIT License

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Imu phase reset #474

Closed Flova closed 2 weeks ago

Flova commented 1 month ago

Summary

Adds an imu based phase reset.

Needs some cleanup, as this is quite experimental.

Also TODOs:

Make less hacky
Fix Odom
Adjust path planning to utilize new walking capabilities
Add robot specific parameter overrides

Proposed changes

Use sideways linear acceleration as an indicator. After performing several trials on the robot this seems to be most correlated with the robots phase. We look for the point where the acceleration is near zero. This is the case if we stop accelerating using one leg and start breaking with the other.

Different measurements indicating the phase

Tune walk params
Add robot specific walk params

Related issues

314

Closes #437

Checklist

[x] Run colcon build
[ ] Write documentation
[x] Test on your machine
[x] Test on the robot
[ ] Create issues for future work
[x] Triage this PR and label it

Flova commented 1 month ago

https://github.com/bit-bots/bitbots_main/assets/15075613/14967f62-a141-4f70-8f1a-07e5505b8ba4

Demo of the walking with phase reset