URDF tutorial robot falls
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.