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Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:001 – Broken tendon of the neck #1736

Closed LoreMoretti closed 8 months ago

LoreMoretti commented 8 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

During some tests on torque control with the robot on the pole, the torso suddenly felt forward and caused the tendon of the neck to break.

cc @DanielePucci

Detailed context

We are still investigating why the torso felt forward, since it was not expected.

icub-tech already repaired the robot for a demo.

Additional context

No response

How does it affect you?

No response

sgiraz commented 8 months ago

Hi @LoreMoretti,

@AntonioConsilvio and @fbiggi just repaired the tendon. In this case, the tendon's fault was due to the collision with the user in front of the robot after an unexpected fall forward.

[!Warning] Using the torque control on the robot could be very dangerous. Be careful keeping yourself away enough to avoid unwanted collisions.

cc @DanielePucci @Fabrizio69

DanielePucci commented 8 months ago

Thanks a lot @sgiraz @fils99 @AntonioConsilvio. We are trying to understand the root cause of this fast motion

DanielePucci commented 8 months ago

The cause of the motion seems to be related to https://github.com/ami-iit/element_qp-reactive-control/issues/74 and we will investigate more. Since the cables were fixed by @fbiggi, we may close this issue.