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I simulate a quadruped robot in gazebo using Noetic . When I just view the model, it is just fine. But if I load the controller, all legs collapse to each other. Why does this happen? Thanks in advance.
The images are below: https://blog.csdn.net/weixin_46536094...
One cause of this is that you do not have the joint-related parameters set to good values. For example, the max. joint effort may be too small, or the joint's control-loop PID feedback may be too small, or the joint's control-loop update rate may be too slow.
Most robot joints are not locked in a particular position. The joint motor is constantly running, dynamically fighting the weight above the joint.
Asked: 2022-07-07 23:03:25 -0500
Seen: 24 times
Last updated: Jul 10 '22
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