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:
1 -5 1 0 0 1.571 0 0 -9.81 0.005 0.005 1e8 20.0 true quick 500 1.0 0.0 0.2 100.0 0.0 1000 0.001 model://sun model://ground_plane
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