DampingBalanceParam_msg
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File:
thormang3_walking_module_msgs/DampingBalanceParam.msg
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Message Definition
float32 cob_x_offset_m float32 cob_y_offset_m float32 hip_roll_swap_angle_rad float32 gyro_gain float32 foot_roll_angle_gain float32 foot_pitch_angle_gain float32 foot_x_force_gain float32 foot_y_force_gain float32 foot_z_force_gain float32 foot_roll_torque_gain float32 foot_pitch_torque_gain float32 foot_roll_angle_time_constant float32 foot_pitch_angle_time_constant float32 foot_x_force_time_constant float32 foot_y_force_time_constant float32 foot_z_force_time_constant float32 foot_roll_torque_time_constant float32 foot_pitch_torque_time_constant
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Description
These are the parameters used in the Balance Algorithm.
Most algorithms are based on PD Control, therefore, gain and timeconstant are declared in pairs.
COB Offset
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float32 cob_x_offset_m
x_offset of cob -
float32 cob_y_offset_m
y_offset of cob
FeedForward
float32 hip_roll_swap_angle_rad
Feedforward of Hip Roll
Gain
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float32 gyro_gain
Gain for the Gyro -
float32 foot_roll_angle_gain
Gain for the Roll data acquired from the IMU -
float32 foot_pitch_angle_gain
Gain for the Pitch data acquired from the IMU -
float32 foot_x_force_gain
Gain for the Fx data acquired from the FT Sensor -
float32 foot_y_force_gain
Gain for the Fy data acquired from the FT Sensor -
float32 foot_z_force_gain
Gain for the Fz data acquired from the FT Sensor -
float32 foot_roll_torque_gain
Gain for the Tx data acquired from the FT Sensor -
float32 foot_pitch_torque_gain
Gain for the Ty data acquired from the FT Sensor
Time Constant
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float32 foot_roll_angle_time_constant
Time constant for the Roll data acquired from the IMU -
float32 foot_pitch_angle_time_constant
Time constant for the Pitch data acquired from the IMU -
float32 foot_x_force_time_constant
Time constant for the Fx data acquired from the FT Sensor -
float32 foot_y_force_time_constant
Time constant for the Fy data acquired from the FT Sensor -
float32 foot_z_force_time_constant
Time constant for the Fz data acquired from the FT Sensor -
float32 foot_roll_torque_time_constant
Time constant for the Tx data acquired from the FT Sensor -
float32 foot_pitch_torque_time_constant
Time constant for the Tz data acquired from the FT Sensor