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Robot slips/slides/vibrates over ground plane

asked 2020-09-16 18:31:20 -0500

Lutz gravatar image

Hi guys,

i have this rather annoying problem that my robot ( 4 legged walking robot ) vibrates over the ground plane. As a result it has no friction and every simulation of a step is useless. The force peaks are over 100N within a fraction of a second. Do you know any way to damp this force? I can't figure out how these force peaks occur. For the movement of the joints I use a plugin see code below. I would be grateful for any idea.

this->jointsFL[joint]->SetParam("fmax", 0, this->50.0);
this->jointsFL[joint]->SetParam("vel", 0, ((double)this->targetVelFL[joint]));

What I have tried until now: -Interta System checked (twice) -friction of the links increased -damping of the joints increased - And the Tags: <min_depth>0.01</min_depth> <max_vel>0</max_vel>

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answered 2020-10-11 14:10:35 -0500

Lutz gravatar image

It seems to have been a solver problem. For those with a similar problem try to increase the iterations (at least 100) of the simulation and set the SOR value below 1.0.

-> http://gazebosim.org/tutorials?tut=pr... ->http://gazebosim.org/tutorials?tut=physics_params&cat=physics "SOR?"-> https://en.wikipedia.org/wiki/Success...

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Asked: 2020-09-16 18:31:20 -0500

Seen: 198 times

Last updated: Oct 11 '20