qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
854 stars 217 forks source link

periodic shaking (or small sudden drop) of the body #33

Open ImFroooost opened 1 year ago

ImFroooost commented 1 year ago

Thank you for this great project! May I ask why there is a periodic shaking (or small sudden drop) of the body? The body suddenly drops a little every second, and may eventually fall. I switched to a better computer, which seems to alleviate this phenomenon, but there is still a slight periodic shaking. Thank you!