search

unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
287 stars 160 forks source link

Friction compensation in the low level controller #96

Open Sergim96 opened 1 year ago

Sergim96 commented 1 year ago

Hi,

We are experiencing quite a lot of friction in the actuation of the motors on B1, specially on the knee one. Does the low level controller have some kind of friction compensation implemented? If so, how can it be enabled?

This is a key component when performing torque control in any robotic system, however, the lack of documentation makes it difficult to know if this feature exists or not.

xyq1223 commented 1 year ago

Hello, there is no friction compensation, it is recommended that you can adjust it slowly. In addition, the mass of the imu is very small and has no effect on the dynamic model

zixuan417 commented 11 months ago

Hi, we also encountered a similar problem. Could you kindly tell me how you fixed this?