• File: thormang3_walking_module_msgs/DampingBalanceParam.msg

• 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
  

• 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

• 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

• 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

• 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