quadruped-robot

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您好，我在尝试demo_trot_velocity_mpc时，机器人在Z轴机身高度方向呈现跳动状态，我查看了期望机身高度和z轴方向的期望速度是0，为什么会是跳动状态呢（qp不存在这个问题）？是在哪部分有相关的设置吗？希望您能帮忙解答，谢谢!

NZPstudent

why this project can not find a walking demo proram?  

123zzw456

hello, question is up ! qr_robot_a1.cpp 140,6: void qrRobotA1::ReceiveObservation() for (int motorId = 0; motorId < NumMotor; motorId++) { motorAngles[motorId] = state.motorState[motorId].q; motorVelocities[motorId] = state.motorState[motorId].dq; **motorddq[motorId] = state.motorState[motorId].ddq;** // current...

elpimous

can i use this controller on real robot ?

2

Hello the team, I made a homemade BLDC robot, and i'd like to test your controller. Does it need foot sensors (i don't have ones) Does it need a tracking...

elpimous

你好，我在按照步骤运行demo_helloword时会有如下的错误：   请问我有什么办法可以解决吗？ 运行其他demo也是同样的错误

1xaioyang

About gait phase

2

Hi～I have a new question: In your trot gait settings, I see you set the initial phase of the swing phase to 0.9, and the initial phase of the support...

Supergithubber