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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Issue with the robot walk in Gazebo #142

Open wgtayar opened 1 month ago

wgtayar commented 1 month ago

Hello,

I am working with my own custom made robot and implemented champ on it. When testing a forward walk on gazebo, the robot drifts slowly towards the right.

The kinematics and the values for the link dimensions, weight, inertias, etc. are all double checked so the issue shouldn't be from there (I hope).

I did tune the PID controller parameters in the ros_control.yaml file several times, however, the drift still persists.

Any input would be greatly appreciated.

Thanks!

chrisalbertson commented 1 month ago

I think walking off to one side is normal for both real and simulated robots. Real rovbots are never perfectly symmetric and simulations do not have infinite precision. So we have a direction controller that ass z-rototion to remove error, bAIXLLY. “direction PID”. With this, the robot can walk straight even if you intentionally make one leg shorter

On May 10, 2024, at 3:09 AM, Wajih Georges El Tayar @.***> wrote:

Hello,

I am working with my own custom made robot and implemented champ on it. When testing a forward walk on gazebo, the robot drifts slowly towards the right.

The kinematics and the values for the link dimensions, weight, inertias, etc. are all double checked so the issue shouldn't be from there (I hope).

I did tune the PID controller parameters in the ros_control.yaml file several times, however, the drift still persists.

Any input would be greatly appreciated.

Thanks!

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