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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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iCubPrague01 S/N:047 – Shaking head #1847

Open rozliv opened 1 month ago

rozliv commented 1 month ago

Robot Name 🤖

iCubPrague01 S/N:047

Request/Failure description

Our iCub sometimes starts shaking its head. To stop that unwanted motion, I must hold its head with my hand.

Detailed context

It happens both when the neck is moving and when only the torso is moving. See the enclosed video when only the torso is commanded using iCub breather.

In the enclosed figure, you can see the difference between joint coordinates for pitch (blue) and yaw (green) neck joints when they are controlled in Position Direct mode.

cc @rustlluk @matejhof @0xBEDA

Additional context

https://github.com/robotology/icub-tech-support/assets/45361823/7b599be6-808a-4fe8-bc21-572b50a96810

Figure_1

How does it affect you?

No response

AntonioConsilvio commented 1 month ago

Hi @rozliv! A possible cause could be the presence of backlash in the neck mechanism.

I recommend checking the tightness of the following exposed screws on the sides of the neck:

rs

LS

If this is not enough, you can try removing the face covers and tightening the following screws:

front1

front2

Please, send us feedback and if you have any questions feel free to ask!