• 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