ergocub: increase head pitch and roll position PID gains #510
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pattacini
approved these changes
May 12, 2023
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The final test will be done next week w/ the robot walking. |
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The test on walking was successful 🎉 We will keep testing the gains these days before merging. |
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The latest tests have confirmed that the new PID gains are working well. |
mfussi66
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Jun 19, 2023
MSECode
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Apr 11, 2024
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This PR proposes increased PID gains of the pitch and roll of the ergoCub head, for position control.
The gains were tested with the still robot during external shake-ups on the shoulders and the tilted hip pitch:
And during the bend over sequence during the box lifting test:
