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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:002 – Joint legs miscalibrated #1840

Open GiulioRomualdi opened 5 days ago

GiulioRomualdi commented 5 days ago

Robot Name 🤖

ergoCub 1.1 S/N:002

Request/Failure description

Today with @LoreMoretti we tried to run the walking controller and we noticed that the robot was hardly impacting the ground making the robot falling

Detailed context

Asking for the joints to move the legs in zero configuration we noticed that the feet are not parallel with respect to the ground

https://github.com/robotology/icub-tech-support/assets/16744101/43565fa6-751b-4c2b-b906-f120727539dc

Additional context

Yesterday @AntonioConsilvio fixed https://github.com/robotology/icub-tech-support/issues/1838 we changed the roll ankle calibrator. Reverting did not solve the issue. Indeed there seems to be a problem with the pitches (we dont know if it is the ankle pitch, hip pitch or knee)

How does it affect you?

We cannot make the robot walk in a reliable way. Making all the experimental activity blocked A demo that could be impacted by this issue:

AntonioConsilvio commented 18 hours ago

Hi! after the temporary fix of the ankle roll (see issue).

Together with @GiulioRomualdi we re-performed a fine calibration and the robot started working and walking properly again! ✅