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Published 20 hours ago • verified publisher icon robotology

iCubPrague01 S/N:047 – Shaking head

Open rozliv opened this issue 1 year ago • 1 comments

Robot Name 🤖

iCubPrague01 S/N:047

Request/Failure description

Our iCub sometimes starts shaking its head. To stop that unwanted motion, I must hold its head with my hand.

Detailed context

It happens both when the neck is moving and when only the torso is moving. See the enclosed video when only the torso is commanded using iCub breather.

In the enclosed figure, you can see the difference between joint coordinates for pitch (blue) and yaw (green) neck joints when they are controlled in Position Direct mode.

cc @rustlluk @matejhof @0xBEDA

Additional context

https://github.com/robotology/icub-tech-support/assets/45361823/7b599be6-808a-4fe8-bc21-572b50a96810

Figure_1

How does it affect you?

No response

rozliv avatar Jul 07 '24 11:07 rozliv