• File: thormang3_walking_module_msgs/BalanceParam.msg

• Message Definition

  float32 cob_x_offset_m
  float32 cob_y_offset_m
  
  float32 hip_roll_swap_angle_rad
  
  float32 foot_roll_gyro_p_gain
  float32 foot_roll_gyro_d_gain
  float32 foot_pitch_gyro_p_gain
  float32 foot_pitch_gyro_d_gain
  
  float32 foot_roll_angle_p_gain
  float32 foot_roll_angle_d_gain
  float32 foot_pitch_angle_p_gain
  float32 foot_pitch_angle_d_gain
  
  float32 foot_x_force_p_gain
  float32 foot_x_force_d_gain
  float32 foot_y_force_p_gain
  float32 foot_y_force_d_gain
  float32 foot_z_force_p_gain
  float32 foot_z_force_d_gain
  float32 foot_roll_torque_p_gain
  float32 foot_roll_torque_d_gain
  float32 foot_pitch_torque_p_gain
  float32 foot_pitch_torque_d_gain
  
  float32 roll_gyro_cut_off_frequency
  float32 pitch_gyro_cut_off_frequency  
  
  float32 roll_angle_cut_off_frequency
  float32 pitch_angle_cut_off_frequency
  
  float32 foot_x_force_cut_off_frequency
  float32 foot_y_force_cut_off_frequency
  float32 foot_z_force_cut_off_frequency
  float32 foot_roll_torque_cut_off_frequency
  float32 foot_pitch_torque_cut_off_frequency
  

• Description
  These are the parameters used in the Balance Algorithm.
  PD Control and low pass filter are used, therefore, PD gain and cut off frequency are declared in pairs.

COB Offset

• float32 cob_x_offset_m
     x_offset of center of body
• float32 cob_y_offset_m
     y_offset of center of body

FeedForward

• float32 hip_roll_swap_angle_rad
     Feedforward of Hip Roll

Gain

• float32 foot_roll_gyro_p_gain
     P Gain for foot using x directional angular velocity acquired from the IMU
• float32 foot_roll_gyro_d_gain
     D Gain for foot using x directional angular velocity acquired from the IMU
• float32 foot_pitch_gyro_p_gain
     P Gain for foot using y directional angular velocity acquired from the IMU
• float32 foot_pitch_gyro_d_gain
     D Gain for foot using y directional angular velocity acquired from the IMU
• float32 foot_roll_angle_p_gain
     P Gain for foot using Roll angle acquired from the IMU
• float32 foot_roll_angle_d_gain
     D Gain for foot using Roll angle acquired from the IMU
• float32 foot_pitch_angle_p_gain
     P Gain for foot using Pitch angle acquired from the IMU
• float32 foot_pitch_angle_d_gain
     D Gain for foot using Pitch angle acquired from the IMU
• float32 foot_x_force_p_gain
     P Gain for foot using x directional force
• float32 foot_x_force_d_gain
     D Gain for foot using x directional force
• float32 foot_y_force_p_gain
     P Gain for foot using y directional force
• float32 foot_y_force_d_gain
     D Gain for foot using y directional force
• float32 foot_z_force_p_gain
     P Gain for foot using z directional force
• float32 foot_z_force_d_gain
     D Gain for foot using z directional force
• float32 foot_roll_torque_p_gain
     P Gain for foot using x directional torque
• float32 foot_roll_torque_d_gain
     D Gain for foot using x directional torque
• float32 foot_pitch_torque_p_gain
     P Gain for foot using y directional torque
• float32 foot_pitch_torque_d_gain
     D Gain for foot using y directional torque

Cut Off Frequency

• float32 roll_gyro_cut_off_frequency
     Cut Off Frequency for the x directional angular velocity acquired from the IMU
• float32 pitch_gyro_cut_off_frequency
     Cut Off Frequency for the y directional angular velocity acquired from the IMU
• float32 roll_angle_cut_off_frequency
     Cut Off Frequency for the Roll angle acquired from the IMU
• float32 pitch_angle_cut_off_frequency
     Cut Off Frequency for the Pitch angle acquired from the IMU
• float32 foot_x_force_cut_off_frequency
     Cut Off Frequency for the x directional force from Force-Torque sensor
• float32 foot_y_force_cut_off_frequency
     Cut Off Frequency for the y directional force from Force-Torque sensor
• float32 foot_z_force_cut_off_frequency
     Cut Off Frequency for the z directional force from Force-Torque sensor
• float32 foot_roll_torque_cut_off_frequency
     Cut Off Frequency for the x directional torque from Force-Torque sensor
• float32 foot_pitch_torque_cut_off_frequency
     Cut Off Frequency for the y directional torque from Force-Torque sensor