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chvmp / robots

Collection of quadrupedal robots configured to work in CHAMP development framework
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update mini pupper pid parameters so that it can stand #17

Closed CullenSUN closed 1 year ago

CullenSUN commented 1 year ago

Previously, Mini Pupper was not able to stand due to wrong PID parameters for ros control in ROS2 Humble. After this PR, Mini Pupper is able to stand.

Before change: Screenshot from 2023-01-09 23-06-18

After change:

Screenshot from 2023-01-08 23-27-23

I have spent 2-3 days with different parameters of PID, and current sets are the best in my experiments even through it's not perfect. Mini pupper still cannot stand as stable as champ, might due to light weight.

Tiryoh commented 1 year ago

For the record, this is how it works with the improved parameters.

https://user-images.githubusercontent.com/3256629/212480758-81c326df-b8a8-4861-95cf-80ec8aee5b79.mp4