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Basically there is not enough damping in your system. Without damping energy is conserved and so propagates through the system like a perpetual motion machine, and the thing is constantly vibrating off the ground.

The atlas actually has had the same problem and they've recently started to fix it with higher damping values, and softer foot contacts. The contact model you list for the atlas foot is not the latest.

See the following for details:

  • https://bitbucket.org/osrf/gazebo/issue/680/feet-drift-when-standing-due-commit

  • https://bitbucket.org/osrf/drcsim/pull-request/269/update-foot-contact-with-more-realistic/diff#comment-241720