• File: op3_walking_module_msgs/WalkingParam.msg]
• Message Definition

 ####### walking init pose #######
 float32 init_x_offset
 float32 init_y_offset
 float32 init_z_offset
 float32 init_roll_offset
 float32 init_pitch_offset
 float32 init_yaw_offset

 ####### time parameter #####
 float32 period_time
 float32 dsp_ratio
 float32 step_fb_ratio

 ########## walking parameter ########
 float32 x_move_amplitude
 float32 y_move_amplitude
 float32 z_move_amplitude
 float32 angle_move_amplitude
 bool move_aim_on

 ########## balance parameter ##########
 bool balance_enable
 float32 balance_hip_roll_gain
 float32 balance_knee_gain
 float32 balance_ankle_roll_gain
 float32 balance_ankle_pitch_gain
 float32 y_swap_amplitude
 float32 z_swap_amplitude
 float32 arm_swing_gain
 float32 pelvis_offset
 float32 hip_pitch_offset

 ########## gain parameter ##########
 int32 p_gain
 int32 i_gain
 int32 d_gain

• Description These are the parameters used in the Walking Algorithm.

walking init pose

• float32 init_x_offset    offset in the x-direction (front and back) [m]
    

• float32 init_y_offset    offset in the y-direction (left and right) [m]
    
  
• float32 init_z_offset    offset in the z-direction (up and down) [m]
    
• float32 init_roll_offset    roll offset (x-coordinate) [rad]
    
• float32 init_pitch_offset    pitch offset (y-coordinate) [rad]
    
• float32 init_yaw_offset    yaw offset (z-coordinate) [rad]
    

time parameter

• float32 period_time    Time required for ROBOTIS-OP3 to complete two full steps (left and right foot) [ms]
    
• float32 dsp_ratio    Time ratio of the period when both feet are touching the ground to the period of walking cycle.
    

walking parameter

• float32 x_move_amplitude    Differential distance (x-direction) between ROBOTIS-OP3’s left and right foot during walk [m]
    
• float32 y_move_amplitude    Differential distance (y-direction) between ROBOTIS-OP3’s left and right foot during walk [m]
    
• float32 z_move_amplitude    This is ROBOTIS-OP3’s foot elevation during walk
    
• float32 angle_move_amplitude    Direction of ROBOTIS-OP3’s stepping (towards left or right). The head also aims at the direction [rad]
    

balance parameter

• bool balance_enable    Turn on balance algorithm

• float32 balance_hip_roll_gain    Gain with respect to the gyroscope roll

• float32 balance_knee_gain    Gain with respect to the gyroscope pitch

• float32 balance_ankle_roll_gain    Gain with respect to the gyroscope roll

• float32 balance_ankle_pitch_gain    Gain with respect to the gyroscope pitch

• float32 y_swap_amplitude    swing to either left or right during walk [m]
    
• float32 z_swap_amplitude    up and down body swing during walk [m]
    

• float32 arm_swing_gain    Arm swing gain with respect to Step forward/back. If the left foot moves forward then the right arm swings.

• float32 pelvis_offset    roll offset (x-coordinate) at the pelvis level. Values are for Dynamixel position values for hip roll joints [rad]
    
• float32 hip_pitch_offset    pitch offset (y-coordinate) at the hip level. Values are for Dynamixel position values for hip pitch joints. [rad]
    

gain parameter

• int32 p_gain    not yet implemented

• int32 i_gain    not yet implemented

• int32 d_gain    not yet implemented