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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
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When running the code with the Go1 robot, it was noticed that the two hind legs are splayed outward. #55

Open nanbwrn opened 9 months ago

nanbwrn commented 9 months ago

When I run the simulation with the Go1 robot, I've noticed that the robot's leg positions are normal when it's standing. However, when it starts walking with trot gait, I observe that its rear two legs splay outward as it moves. When I run it on the actual robot, this strange phenomenon also occurs. How should I make modifications to address this issue? Thank you, everyone.

Below is a simulation video for reference.

https://github.com/qiayuanliao/legged_control/assets/132453617/2cad5884-ba9a-4d5e-ae84-df9c6c70c2ea

demirciomer commented 7 months ago

Hi, can you send the reference.info file of your robot?

nanbwrn commented 1 month ago

targetDisplacementVelocity 0.25; targetRotationVelocity 0.5;

comHeight 0.30 ; Unitree Go1 Default Spec: 0.325 -> 0.31

defaultJointState { (0,0) 0.00 ; LF_HAA | Original: -0.20 (1,0) 0.72 ; LF_HFE | Original: 0.72 (2,0) -1.44 ; LF_KFE | Original: -1.44 (3,0) 0.00 ; LH_HAA | Original: -0.20 (4,0) 0.72 ; LH_HFE | Original: 0.72 (5,0) -1.44 ; LH_KFE | Original: -1.44 (6,0) 0.00 ; RF_HAA | Original: 0.20 (7,0) 0.72 ; RF_HFE | Original: 0.72 (8,0) -1.44 ; RF_KFE | Original: -1.44 (9,0) 0.00 ; RH_HAA | Original: 0.20 (10,0) 0.72 ; RH_HFE | Original: 0.72 (11,0) -1.44 ; RH_KFE | Original: -1.44 }

initialModeSchedule { modeSequence { [0] STANCE [1] STANCE } eventTimes { [0] 0.5 } }

defaultModeSequenceTemplate { modeSequence { [0] STANCE } switchingTimes { [0] 0.0 [1] 1.0 } }