op3_walkingparam_msg

• File: op3_walking_module_msgs/WalkingParam.msg]

• Message Definition

  ####### walking init pose #######
  float32 init_x_offset
  float32 init_y_offset
  float32 init_z_offset
  float32 init_roll_offset
  float32 init_pitch_offset
  float32 init_yaw_offset
  
  ####### time parameter #####
  float32 period_time
  float32 dsp_ratio
  float32 step_fb_ratio
  
  ########## walking parameter ########
  float32 x_move_amplitude
  float32 y_move_amplitude
  float32 z_move_amplitude
  float32 angle_move_amplitude
  bool move_aim_on
  
  ########## balance parameter ##########
  bool balance_enable
  float32 balance_hip_roll_gain
  float32 balance_knee_gain
  float32 balance_ankle_roll_gain
  float32 balance_ankle_pitch_gain
  float32 y_swap_amplitude
  float32 z_swap_amplitude
  float32 arm_swing_gain
  float32 pelvis_offset
  float32 hip_pitch_offset
  
  ########## gain parameter ##########
  int32 p_gain
  int32 i_gain
  int32 d_gain

• Description
  These are the parameters used in the Walking Algorithm.

walking init pose

• float32 init_x_offset
     offset in the x-direction (front and back) [m]
    

• float32 init_y_offset
     offset in the y-direction (left and right) [m]
    

• float32 init_z_offset
     offset in the z-direction (up and down) [m]
    

• float32 init_roll_offset
     roll offset (x-coordinate) [rad]
    

• float32 init_pitch_offset
     pitch offset (y-coordinate) [rad]
    

• float32 init_yaw_offset
     yaw offset (z-coordinate) [rad]
    

time parameter

• float32 period_time
     Time required for ROBOTIS-OP3 to complete two full steps (left and right foot) [ms]
    
• float32 dsp_ratio
     Time ratio of the period when both feet are touching the ground to the period of walking cycle.
    

walking parameter

• float32 x_move_amplitude
     Differential distance (x-direction) between ROBOTIS-OP3's left and right foot during walk [m]
    
• float32 y_move_amplitude
     Differential distance (y-direction) between ROBOTIS-OP3's left and right foot during walk [m]
    
• float32 z_move_amplitude
     This is ROBOTIS-OP3's foot elevation during walk
    
• float32 angle_move_amplitude
     Direction of ROBOTIS-OP3's stepping (towards left or right). The head also aims at the direction [rad]
    

balance parameter

• bool balance_enable
     Turn on balance algorithm

• float32 balance_hip_roll_gain
     Gain with respect to the gyroscope roll

• float32 balance_knee_gain
     Gain with respect to the gyroscope pitch

• float32 balance_ankle_roll_gain
     Gain with respect to the gyroscope roll

• float32 balance_ankle_pitch_gain
     Gain with respect to the gyroscope pitch

• float32 y_swap_amplitude
     swing to either left or right during walk [m]
    

• float32 z_swap_amplitude
     up and down body swing during walk [m]
    

• float32 arm_swing_gain
     Arm swing gain with respect to Step forward/back. If the left foot moves forward then the right arm swings.

• float32 pelvis_offset
     roll offset (x-coordinate) at the pelvis level. Values are for DYNAMIXEL position values for hip roll joints [rad]
    

• float32 hip_pitch_offset
     pitch offset (y-coordinate) at the hip level. Values are for DYNAMIXEL position values for hip pitch joints. [rad]
    

gain parameter

• int32 p_gain
     not yet implemented

• int32 i_gain
     not yet implemented

• int32 d_gain
     not yet implemented