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[iCubSingapore01] Fix Gearbox values #556

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merged 1 commit into from
Aug 21, 2023

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AntonioConsilvio
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What changes:

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

Note:

This is the second PR concerning iCubSingapore01's maintenance, the first is:

cc @sgiraz

@pattacini
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Hi @AntonioConsilvio

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

It's the first time that I see a gear ratio = 150:1. Our HD sizes for these joints are generally 100:1 or 160:1. Can you please confirm?

cc @fiorisi

@fiorisi
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fiorisi commented Aug 21, 2023

Hi @AntonioConsilvio

This PR fix the value of the joint 0 (pitch) of both legs from 100 to 150.

It's the first time that I see a gear ratio = 150:1. Our HD sizes for these joints are generally 100:1 or 160:1. Can you please confirm?

cc @fiorisi

Might be related to this discussion (see section Further details on the hip_pitch joint).

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@pattacini pattacini left a comment

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Ok clear now: the hip pitch has a further 1.5 ratio due to the cable transmission.

Thanks @fiorisi 👍🏻

I've also checked that e.g. iCubGenova11 has the same ratios.

@pattacini pattacini merged commit 4670904 into robotology:master Aug 21, 2023
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MSECode pushed a commit to valegagge/robots-configuration that referenced this pull request Apr 11, 2024
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3 participants