why my biped robot breakdown when the foot landing the ground? [closed]

asked 2017-06-28 07:54:08 -0600

alpha gravatar image

I create a biped robot in gazebo and try the walking task. When the right leg swing up then landing the ground, the whole robot breakdown? (the ode engine fly because of sudden contact force? ).
Any one knows the reason?

I guess the PID(high gains) of the each joint is the main course, the Kp i choose is very large( i use the PD control), but if i choose a small Kp, the joint angle may not track the desired angle well.

So how should i solve this problem???

addition: i use the atlas.world in the drcsim:

<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<gui fullscreen='0'>
  <camera name='user_camera'>
    <pose>1 -5 1 0 0 1.571</pose>
  </camera>
</gui>
<physics type="ode">
  <gravity>0 0 -9.81</gravity>
  <simbody>
    <accuracy>0.005</accuracy>
    <max_transient_velocity>0.005</max_transient_velocity>
    <contact>
      <stiffness>1e8</stiffness>
      <dissipation>20.0</dissipation>
    </contact>
  </simbody>
  <ode>
    <solver>
      <use_dynamic_moi_rescaling>true</use_dynamic_moi_rescaling>
      <type>quick</type>
      <iters>500</iters>
      <sor>1.0</sor>
    </solver>
    <constraints>
      <cfm>0.0</cfm>
      <erp>0.2</erp>
      <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
      <contact_surface_layer>0.0</contact_surface_layer>
    </constraints>
  </ode>
  <real_time_update_rate>1000</real_time_update_rate>
  <max_step_size>0.001</max_step_size>
</physics>
<!-- A global light source -->
<include>
  <uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
  <uri>model://ground_plane</uri>
</include>

</world> </sdf>

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by gvdhoorn
close date 2017-06-28 10:19:16.172732

Comments

I'm sorry, but this is really a Gazebo question. It's not that we don't want to help you, but with 35000+ questions already here on ROS Answers, we try to say on-topic as much as possible. You also have a higher chance of getting good answers over at answers.gazebosim.org.

gvdhoorn gravatar imagegvdhoorn ( 2017-06-28 10:20:03 -0600 )edit

That's all right

alpha gravatar imagealpha ( 2017-06-28 20:36:39 -0600 )edit