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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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[ergoCubSN002] Tune the velocity-acceleration KF on the ergoCubSN002 on the legs torso and arms (no wrist) #650

Closed GiulioRomualdi closed 5 months ago

GiulioRomualdi commented 5 months ago

This PR tunes the gains of the Kalman filter for the joint velocities and acceleration in the EMS.

The filter has been tuned by an automatic procedure that is explained in https://github.com/ami-iit/component_bipedal-locomotion/issues/157

Here are some results for several joints, with both datasets collected while the robot was walking:

Velocity [rad/s]

Joint With the gains proposed The value currently saved in robots-configuration
torso roll image image
l hip roll image image

Acceleration [rad/s^2]

Joint With the gains proposed The value currently saved in robots-configuration
torso roll image image
l hip roll image image

[!IMPORTANT]
According to the plots, the velocity/acceleration of the torso roll appears smoother. This is likely because the original configuration did not enable the Kalman filter for the torso roll.

cc @isorrentino @DanielePucci