Comments (5)
xiaoliangstd
commented on July 21, 2024
你好，对于unitree_guide的这个控制器，对于跟踪效果来说 目前最稳定的效果是trot步态。对于你选择的其它更为动态的步态，崩溃的原因有可能在与该控制器跟踪不上该步态下的期望，在某些构型下，算出的雅可比矩阵不太好，会出现nan的情况，导致崩溃。你可以尝试将WaveGenerator的步态周期参数改短，并增加支撑相的占空比。下图经供参考：
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xiaoliangstd
commented on July 21, 2024
这是测试效果，该参数组合下 不至于崩溃。
unitree_guide_pronk.mp4
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Takagi0215
commented on July 21, 2024
谢谢大佬帮助！崩溃的问题已经解决！
还想请教一下，有没有比较好的bound步态的参数组合呢？我们试了一下，感觉不是很稳定
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xiaoliangstd
commented on July 21, 2024
谢谢大佬帮助！崩溃的问题已经解决！ 还想请教一下，有没有比较好的bound步态的参数组合呢？我们试了一下，感觉不是很稳定
哈哈，这个我这边没怎么试过，因为涉及到实物的控制，所以调试最多的就是trot步态。您可以试着不光调步态，还可以调一下BalanceCtrl.cpp里面的 qp权重，或者试一下更高级的算法 例如MPC
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Takagi0215
commented on July 21, 2024
您好，如果想要把MPC移植进来，有没有什么样例呢？
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Related Issues (20)
- 底层控制时电机的力矩赋值 HOT 1
- 请问有没有关于gazebo可以运行在ros2上的教程 HOT 1
- How to publish odom
- catkin_make 编译时错误 HOT 10
- Wrong Assignment in State-Estimation HOT 1
- Some packages are missing
- ROS仿真中的问题
- B1 simulation controller fine tuning
- Could Go2 with Ros2 support gazebo?
- 交流群链接 HOT 1
- gazebo掉帧 HOT 7
- 能再发下交流群群号吗？亲~~ HOT 9
- SwingTest中torque未初始化的问题 HOT 4
- 找不到11.5.2节中unitree_pointCloud_publisher的程序包，有网址吗？ HOT 5
- compatibility with go2 model HOT 6
- junior_ctrl文件在哪里 HOT 5
- 按4之后，狗子马上倒了？Why?Thank you HOT 2
- WaveStatus中的SWING_ALL有什么用？同时在State_Trotting.cpp文件中的exit()函数中，为什么要设置_ctrlComp->setAllSwing()？ HOT 4
- 运行控制器junior_ctrl后按下<L2+A>正常，但按下<L2+Y>实体Go1会强烈抖动并重启，这是为什么？ HOT 1
- Catkin_make报错 HOT 2
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