Nao tends to fall down while walking

costashatz / nao_gazebo

ROS Packages to simulate Aldebaran's NAO Humanoid in Gazebo through NAOqi Simulator SDK

BSD 3-Clause "New" or "Revised" License

34 stars 19 forks source link

Nao tends to fall down while walking #3

Open Maverobot opened 8 years ago

Maverobot commented 8 years ago

Hello,

first I would like to thank you for making such a nice project. It is really a great help for my work. However, I just find out that it is so hard for the robot to keep walking. Sometimes it falls down after a few steps, sometimes a few dozens of steps.

Could anyone give me some hint about how to solve this issue? Thanks.

costashatz commented 8 years ago

Hello,

Thank you for using my project! :)

As it is mentioned in the README, the PID values are not properly tuned and as a result NAO barely stands. So, as you can imagine, it is very difficult to walk (some distance) without falling down. This is a direction (PID tuning) that you are than welcome to help.

@vrabaud, @Karsten1987 and @keulYSMB could help if they have some time.

vrabaud commented 8 years ago

@costashatz , you should mention that package on the official NAO page !

Maverobot commented 8 years ago

Thanks for the quick reply. Maybe some optimization algorithms can be applied to find the best PID values, e.g. Genetic Algorithms... Unfortunately, I am too busy with my current work ATM. When I have time, I will try to see what I can do with the PID values.