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URDF tutorial robot falls

asked 2017-05-14 05:33:54 -0500

Kaonashi gravatar image

Hello,

I followed the R2D2 URDF tutorial and constructed a nice R2D2 robot. Now when I drive the robot, R2D2 tilts to his back. It is like his wheels have so much grip, that they run away under his body. I tried different configurations of mu1, mu2, kd, kp but none of it really worked.
Hope this picture makes my problem clear.
And here is my URDF-File
Would be great if somebody has a hint, where to look at, or had a similar problem.

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answered 2017-05-16 09:45:15 -0500

David Lu gravatar image

The tutorial aims to show the basic workings of the interaction with Gazebo, and falls a bit short of presenting a usable robot model. You should be able to drive at a lower speed and have it not tip over. Best of luck.

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Thanks for your reply. Do you have any recommendations for a tutorial of a "usable" model? Or any idea, how to make R2D2 usable?

Kaonashi gravatar image Kaonashi  ( 2017-05-16 19:01:12 -0500 )edit

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Asked: 2017-05-14 05:33:54 -0500

Seen: 89 times

Last updated: May 16 '17