Stabilisation during walking

Open texhnolyze opened this issue 2 years ago • 1 comments

If it is needed, because of backlash issues in the legs we want to do active stabilization during walking.

Wait for results of: https://github.com/bit-bots/bitbots_hardware/issues/42

Mar 08 '23 15:03 texhnolyze

We should take a look at the following PR: https://github.com/bit-bots/bitbots_motion/pull/387 and potentially take it as a basis for this issue.

May 07 '24 16:05 texhnolyze

@Flova would you say that this is solved "enough" by the imu phase reset? What other stabilization techniques did you want to try ?

Oct 09 '24 12:10 jgueldenstein

We currently do the phase reset and have a pid controller moving the trunk offset (translation) iirc. That works pretty well.

Oct 09 '24 12:10 Flova