File: thormang3_walking_module_msgs/JointFeedBackGain.msg

Message Definition

float32 r_leg_hip_y_p_gain
float32 r_leg_hip_r_p_gain
float32 r_leg_hip_p_p_gain
float32 r_leg_kn_p_p_gain
float32 r_leg_an_p_p_gain
float32 r_leg_an_r_p_gain
float32 l_leg_hip_y_p_gain
float32 l_leg_hip_r_p_gain
float32 l_leg_hip_p_p_gain
float32 l_leg_kn_p_p_gain
float32 l_leg_an_p_p_gain
float32 l_leg_an_r_p_gain

float32 r_leg_hip_y_d_gain
float32 r_leg_hip_r_d_gain
float32 r_leg_hip_p_d_gain
float32 r_leg_kn_p_d_gain
float32 r_leg_an_p_d_gain
float32 r_leg_an_r_d_gain
float32 l_leg_hip_y_d_gain
float32 l_leg_hip_r_d_gain
float32 l_leg_hip_p_d_gain
float32 l_leg_kn_p_d_gain
float32 l_leg_an_p_d_gain
float32 l_leg_an_r_d_gain

Description
These are the parameters used for improving trajectory following of leg.
PD Control is used, therefore, PD gains for each joints are declared in this message file.

• float32 r_leg_hip_y_p_gain
     P Gain for right hip yaw joint

• float32 r_leg_hip_r_p_gain
     P Gain for right hip roll joint

• float32 r_leg_hip_p_p_gain
     P Gain for right hip pitch joint

• float32 r_leg_kn_p_p_gain
     P Gain for right knee pitch joint

• float32 r_leg_an_p_p_gain
     P Gain for right ankle pitch joint

• float32 r_leg_an_r_p_gain
     P Gain for right ankle roll joint

• float32 l_leg_hip_y_p_gain
     P Gain for left hip yaw joint

• float32 l_leg_hip_r_p_gain
     P Gain for left hip roll joint

• float32 l_leg_hip_p_p_gain
     P Gain for left hip pitch joint

• float32 l_leg_kn_p_p_gain
     P Gain for left knee pitch joint

• float32 l_leg_an_p_p_gain
     P Gain for left angkle pitch joint

• float32 l_leg_an_r_p_gain
     P Gain for left angkle roll joint

• float32 r_leg_hip_y_d_gain
     D Gain for right hip yaw joint

• float32 r_leg_hip_r_d_gain
     D Gain for right hip roll joint

• float32 r_leg_hip_p_d_gain
     D Gain for right hip pitch joint

• float32 r_leg_kn_p_d_gain
     D Gain for right knee pitch joint

• float32 r_leg_an_p_d_gain
     D Gain for right ankle pitch joint

• float32 r_leg_an_r_d_gain
     D Gain for right ankle roll joint

• float32 l_leg_hip_y_d_gain
     D Gain for left hip yaw joint

• float32 l_leg_hip_r_d_gain
     D Gain for left hip roll joint

• float32 l_leg_hip_p_d_gain
     D Gain for left hip pitch joint

• float32 l_leg_kn_p_d_gain
     D Gain for left knee pitch joint

• float32 l_leg_an_p_d_gain
     D Gain for left angkle pitch joint

• float32 l_leg_an_r_d_gain
     D Gain for left angkle roll joint