ergoCub 1.1 S/N:001 – One foot FT potentially broken, other probably damaged

[S-Dafarra]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

We noticed the following errors in the yri log while walking

[ERROR] from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=3439s 33m 642u :  HW: strain values saturation. 4 is the channel involved. In the last second, the lower saturation counts is 22 and the upper one is 0

[ERROR] from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=3404s 218m 583u :  HW: strain values saturation. 3 is the channel involved. In the last second, the lower saturation counts is 8 and the upper one is 0

From the message alone it is not clear what is the actual FT having the issue, since there are two connected to the same EMS.

Checking through FirmwareUpdater with the robot switched off and hanging, I had the following results

eb7 (Right ankle) canID 14 (Toe) ❗ High value on channel 4

eb9 (Left ankle) canID 13 (Heel) ⚠️ Moderately high value on channel 3

eb9 (Left ankle) canID 14 (Toe) ⚠️ Moderately high value on channel 4

Detailed context

Here the log

ergocub001_log_ergocub-torso_yarprobotinterface_3109_strain_saturations.txt

For completeness, here the other foot FT

eb7 (Right ankle) canID 13 (Heel) ✔️ low values

Additional context

The robot is not walking very well, and a malfunctioning FT could be the cause of it

How does it affect you?

No response