Cubic Doggo Update: returning to basics after all the PID tuning for IMU(reddit.com)

Ever since the post from last time: https://www.reddit.com/r/robotics/comments/1u1iql9/cubic_doggo_update_wobbly_imu/ I have tried to implement all the suggestions from the previous posts (thank you guys :)), and then spent way too much time tuning the PID, hoping it could perfectly balance the robot without wobbling. And the first video is showing my best full PID result so far: it can achieve perfect balance, BUT with randomly occurring spasms. A bubble level is added on its head. After standing+leveling, the platform is put on a slope. The bubble shifts, and the robot is trying to adjust it back Still cannot figure out the reason after quite some updates, though, but 50Hz reading rate with ~10ms lag, and legs lifting the whole body weight while changing tiny position probably are the culprit. So maybe it really doesn't need perfect leveling; it just needs some corrections on a slope. The second video is with P-only, fast reacting and no oscillation. Maybe this is showing the limitation of PID as compared to reinforcement learning? I am not at all sure. For now, though, I still want to see how P-only leveling performs during a walk gait. Link to the previous walking post without IMU: https://www.reddit.com/r/robotics/comments/1tghftd/cubic_doggo_full_github_record_it_can_now_walk/ submitted by /u/SphericalCowww [link] [Kommentare]