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zitongbai / bipedal_control

Bipedal robot control using ocs2
BSD 3-Clause "New" or "Revised" License
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从站立开始行走时，MPC求解很奇怪 #2

Closed zitongbai closed 1 month ago

zitongbai commented 4 months ago
  1. MPC的求解时的初值约束与实际的初值不符合，需要发布cmd_vel后才符合
  2. 求解出来的轨迹摆动幅度很大，与仅测试轨迹规划时的效果不一样
zitongbai commented 1 month ago

后面换了一个模型就能走了，可能是hunter模型的问题