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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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ergocub: increase head pitch and roll position PID gains #510

Closed mfussi66 closed 1 year ago

mfussi66 commented 1 year ago

This PR proposes increased PID gains of the pitch and roll of the ergoCub head, for position control.

The gains were tested with the still robot during external shake-ups on the shoulders and the tilted hip pitch: pidconfronto

And during the bend over sequence during the box lifting test: piddevel pidmagici

pattacini commented 1 year ago

The final test will be done next week w/ the robot walking.

cc @lrapetti @GiulioRomualdi @S-Dafarra @xEnVrE

pattacini commented 1 year ago

The test on walking was successful 🎉 Let me turn this PR into ready for review.

We will keep testing the gains these days before merging.

pattacini commented 1 year ago

The latest tests have confirmed that the new PID gains are working well. cc @xEnVrE